ArSonyPTZ.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 ARSONYPTZ_H
#define ARSONYPTZ_H

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


class ArSonyPacket: public ArBasePacket
{
public:
  ArSonyPacket(ArTypes::UByte2 bufferSize = 15);
  virtual ~ArSonyPacket();
  
  virtual void uByteToBuf(ArTypes::UByte val);
  virtual void byte2ToBuf(ArTypes::Byte2 val);
  void byte2ToBufAtPos(ArTypes::Byte2 val, ArTypes::UByte2 pose);
};

class ArRobot;


class ArSonyPTZ : public ArPTZ
{
public:
  ArSonyPTZ(ArRobot *robot);
  virtual ~ArSonyPTZ();
  
  virtual bool init(void);
  virtual bool pan(int degrees);
  virtual bool panRel(int degrees);
  virtual bool tilt(int degrees);
  virtual bool tiltRel(int degrees);
  virtual bool panTilt(int degreesPan, int degreesTilt);
  virtual bool panTiltRel(int degreesPan, int degreesTilt);
  virtual bool canZoom(void) const { return true; }
  virtual bool zoom(int zoomValue);
  virtual bool zoomRel(int zoomValue);
  virtual int getPan(void) const { return myPan; }
  virtual int getTilt(void) const { return myTilt; }
  virtual int getZoom(void) const { return myZoom; }
  virtual int getMaxPosPan(void) const { return 90; }
  virtual int getMaxNegPan(void) const { return -90; }
  virtual int getMaxPosTilt(void) const { return 30; }
  virtual int getMaxNegTilt(void) const { return -30; }
  virtual int getMaxZoom(void) const { return 1024; }
  virtual int getMinZoom(void) const { return 0; }


  bool backLightingOn(void);
  bool backLightingOff(void);
  //bool packetHandler(ArRobotPacket *packet);
  enum {
    MAX_PAN = 95, 
    MAX_TILT = 25, 
    MIN_ZOOM = 0, 
    MAX_ZOOM = 1023 
  };
protected:
  void initializePackets(void);
  ArRobot *myRobot;
  int myPan;
  int myTilt;
  int myZoom;
  double myDegToTilt;
  double myDegToPan;
  ArSonyPacket myPacket;
  ArSonyPacket myZoomPacket; 
  ArSonyPacket myPanTiltPacket;
};

#endif // ARSONYPTZ_H

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