cPTU_Control Class Reference
[Base_ptucontrol]

Driver for Directed Perception Pan and Tilt units (PTU), model PTUD46. More...

#include <ptu_control.h>

Inheritance diagram for cPTU_Control:

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Collaboration diagram for cPTU_Control:

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Public Member Functions
	cPTU_Control ()
	Class constructor. Opens device and sets communication parameters.
	~cPTU_Control ()
	Class destructor. Closes device.
char	Reset_Parser (long time)
int	OpenSerialPort (char *sn)
	Class methods used to configure the serial port.
int	OpenSerialPort (char *sn, int baud)
int	CloseSerialPort (void)
	(updated)
int	Reset (void)
	Class methods used to configure PTU.
int	SetAsciiEchoMode (char e)
	Enables/Disables Echo mode.
int	SetImmediatePositionExecution (void)
	Orders PTU unit to immediatly pursue the last ordered position.(updated).
int	SetSlaveModeExecution (void)
	Orders P&T unit go to every position ordered, regardless of any updating orders.(updated).
int	SetPureVelocityControl (void)
	Enables Pure Velocity control.
int	SetIndependentVelocityControl (void)
	Enables Independent Velocity control.
int	Halt (char halt_type)
	Immediatly stops movement (updated).
int	SetCheckLimits (unsigned char val)
	Several miscelaneous class methods.
void	Wait (int t)
	Waits for t miliseconds of for PTU completion (updated).
long	GetCurrentPanP (void)
	Class methods used to get PTU current and desired position, speed and acceleration.
double	GetCurrentPanPdeg (void)
	Gets Current Pan Angle (updated).
long	GetDesiredPanP (void)
	Gets Desired Pan Position (updated).
double	GetDesiredPanPdeg (void)
	Gets Desired Pan angle (updated).
long	GetCurrentTiltP (void)
	Gets Current Tilt Position (updated).
double	GetCurrentTiltPdeg (void)
	Gets Current tilt Angle (updated).
long	GetDesiredTiltP (void)
	Gets Desired Tilt Position (updated).
double	GetDesiredTiltPdeg (void)
	Gets Desired Tilt angle (updated).
long	GetCurrentPanS (void)
	Gets Current Pan Speed (updated).
double	GetCurrentPanSdegsec (void)
	Gets Current Pan Speed degrees per sec (updated).
long	GetDesiredPanS (void)
	Gets desired Pan Speed (updated).
double	GetDesiredPanSdegsec (void)
	Gets desired Pan Speed degsec(updated).
long	GetCurrentTiltS (void)
	Gets Current Tilt Speed (updated).
double	GetCurrentTiltSdegsec (void)
	Gets Current Pan Speed degrees per sec (updated).
long	GetDesiredTiltS (void)
	Gets Desired Tilt Speed (updated).
double	GetDesiredTiltSdegsec (void)
	Gets Desired Tilt Speed (updated).
long	GetCurrentPanA (void)
	Gets Current Pan Acceleration (updated).
long	GetDesiredPanA (void)
	Gets Desired Pan Acceleration (updated).
long	GetCurrentTiltA (void)
	Gets Current Tilt Acceleration (updated).
long	GetDesiredTiltA (void)
	Gets Desired Tilt Acceleration (updated).
long	GetDesiredPanR (void)
	Gets Desired Pan Resolution (updated).
long	GetDesiredTiltR (void)
	Gets Desired Tilt Resolution (updated).
int	SetPanSpeed (unsigned short int Speed)
	Class methods used to set PTU motion parameters, position, speed and acceleration.
int	SetTiltSpeed (unsigned short int Speed)
	Sets tilt speed (updated).
int	PanToPosition (short int Pos)
	Pans unit to Pos position. (updated).
int	PanToAngle (double Angle)
	Pans unit to angle Angle.
int	PanOffsetToPosition (int Offset)
	Pans unit to Offset from current position.
int	TiltToPosition (short int Pos)
	Tilts unit to Pos position. (updated).
int	TiltToAngle (double Angle)
	Tilts unit to angle Angle.
int	TiltOffsetToPosition (int Offset)
	Tilts unit to Offset from current position.
int	PanTiltPosSpeed (short int PanPos, short int TiltPos, unsigned short int PanSpeed, unsigned short int TiltSpeed)
	Sends 4 motion orders to PTU. Pan ans Tilt position speed and halt flag. (updated).
int	PanTiltAngleSpeed (double PanAngle, double TiltAngle, unsigned short int PanSpeed, unsigned short int TiltSpeed)
	Sends 4 motion orders to PTU. Pan ans Tilt position speed and halt flag. Its the same has PanTiltPosSpeed but pos is given in degrees.
int	PanTiltAngleSpeedAngleperSec (double PanAngle, double TiltAngle, double PanSpeed, double TiltSpeed)
	Sends 4 motion orders to PTU. Pan ans Tilt position speed and halt flag. Its the same has PanTiltPosSpeed but pos is given in degrees.
int	SetPureVelocity (signed short int ps, signed short int ts)
	Sets Pan and Tilt velocities. Pure velocity control must be enabled using SetPureVelocityControl(void).
int	SetPureVelocity_DegperSec (double ps, double ts)
	Sets Pan and Tilt velocities. Pure velocity control must be enabled using SetPureVelocityControl(void).
Private Member Functions
short int	CheckPanLimits (short int Pos, unsigned char checkflag)
	Class methods used to check if pan, speed and acceleration values are within allowed values.
short int	CheckTiltLimits (short int Pos, unsigned char checkflag)
	Checks for tilt limits.
unsigned short int	CheckPanSLimits (unsigned short int Sp, unsigned char checkflag)
	Checks for pan speed limits.
unsigned short int	CheckTiltSLimits (unsigned short int Sp, unsigned char checkflag)
	Checks for tilt speed limits.
Private Attributes
struct {
char *   ComPort
portstream_fd   ComPortHandle
struct {
char   verbose:1
char   CheckLimits:1
}   flg
struct {
struct {
int   Max
int   Min
}   Pan
struct {
int   Max
int   Min
}   PanS
struct {
int   Max
int   Min
}   Tilt
struct {
int   Max
int   Min
}   TiltS
}   Limits
double   Resolution
}	Parameters

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Detailed Description

Driver for Directed Perception Pan and Tilt units (PTU), model PTUD46.

Todo:

implement set POWER_LEVEL functions

---

Constructor & Destructor Documentation

cPTU_Control::cPTU_Control

(

)

[inline]

Class constructor. Opens device and sets communication parameters.

Returns:

References _PANTILTRESOLUTION_, and TRUE.

cPTU_Control::~cPTU_Control

(

)

[inline]

Class destructor. Closes device.

Returns:

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Member Function Documentation

int cPTU_Control::CloseSerialPort

(

void

)

[inline]

(updated)

Parameters:

@return

References cPTU_Base::close_host_port().

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long cPTU_Control::GetCurrentPanA

(

void

)

[inline]

Gets Current Pan Acceleration (updated).

Returns:

The current pan acceleration value

References ACCELERATION, cPTU_Base::get_current(), and PAN.

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long cPTU_Control::GetCurrentPanP

(

void

)

[inline]

Class methods used to get PTU current and desired position, speed and acceleration.

Gets Current Pan Position (updated)

Returns:

The current Pan Position value

References cPTU_Base::get_current(), PAN, and POSITION.

Referenced by GetCurrentPanPdeg().

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double cPTU_Control::GetCurrentPanPdeg

(

void

)

[inline]

Gets Current Pan Angle (updated).

Returns:

The current Pan Angle value

References _PANTILTRESOLUTION_, and GetCurrentPanP().

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long cPTU_Control::GetCurrentPanS

(

void

)

[inline]

Gets Current Pan Speed (updated).

Returns:

The current pan speed value

References cPTU_Base::get_current(), PAN, and SPEED.

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double cPTU_Control::GetCurrentPanSdegsec

(

void

)

[inline]

Gets Current Pan Speed degrees per sec (updated).

Returns:

The current pan speed value

References _PANTILTRESOLUTION_, cPTU_Base::get_current(), PAN, and SPEED.

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long cPTU_Control::GetCurrentTiltA

(

void

)

[inline]

Gets Current Tilt Acceleration (updated).

Returns:

The current tilt acceleration value

References ACCELERATION, cPTU_Base::get_current(), and TILT.

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long cPTU_Control::GetCurrentTiltP

(

void

)

[inline]

Gets Current Tilt Position (updated).

Returns:

The current Tilt Position value

References cPTU_Base::get_current(), POSITION, and TILT.

Referenced by GetCurrentTiltPdeg().

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double cPTU_Control::GetCurrentTiltPdeg

(

void

)

[inline]

Gets Current tilt Angle (updated).

Returns:

The current Tilt Angle value

References _PANTILTRESOLUTION_, and GetCurrentTiltP().

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long cPTU_Control::GetCurrentTiltS

(

void

)

[inline]

Gets Current Tilt Speed (updated).

Returns:

The current tilt speed value

References cPTU_Base::get_current(), SPEED, and TILT.

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double cPTU_Control::GetCurrentTiltSdegsec

(

void

)

[inline]

Gets Current Pan Speed degrees per sec (updated).

Returns:

The current pan speed value

References _PANTILTRESOLUTION_, cPTU_Base::get_current(), SPEED, and TILT.

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long cPTU_Control::GetDesiredPanA

(

void

)

[inline]

Gets Desired Pan Acceleration (updated).

Returns:

The desired pan accelaration value

References ACCELERATION, cPTU_Base::get_desired(), and PAN.

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long cPTU_Control::GetDesiredPanP

(

void

)

[inline]

Gets Desired Pan Position (updated).

Returns:

The Desired Pan Position value

References cPTU_Base::get_desired(), PAN, and POSITION.

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double cPTU_Control::GetDesiredPanPdeg

(

void

)

[inline]

Gets Desired Pan angle (updated).

Returns:

The Desired Pan Position angle

References _PANTILTRESOLUTION_, cPTU_Base::get_desired(), PAN, and POSITION.

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long cPTU_Control::GetDesiredPanR

(

void

)

[inline]

Gets Desired Pan Resolution (updated).

Returns:

The desired pan resolution value

References cPTU_Base::get_desired(), PAN, and RESOLUTION.

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long cPTU_Control::GetDesiredPanS

(

void

)

[inline]

Gets desired Pan Speed (updated).

Returns:

The desired pan speed value

References cPTU_Base::get_desired(), PAN, and SPEED.

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double cPTU_Control::GetDesiredPanSdegsec

(

void

)

[inline]

Gets desired Pan Speed degsec(updated).

Returns:

The desired pan speed value in degs/sec

References _PANTILTRESOLUTION_, cPTU_Base::get_desired(), PAN, and SPEED.

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long cPTU_Control::GetDesiredTiltA

(

void

)

[inline]

Gets Desired Tilt Acceleration (updated).

Returns:

The desired tilt acceleration value

References ACCELERATION, cPTU_Base::get_desired(), and TILT.

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long cPTU_Control::GetDesiredTiltP

(

void

)

[inline]

Gets Desired Tilt Position (updated).

Returns:

The Desired Tilt Position value

References cPTU_Base::get_desired(), POSITION, and TILT.

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double cPTU_Control::GetDesiredTiltPdeg

(

void

)

[inline]

Gets Desired Tilt angle (updated).

Returns:

The Desired Tilt Position angle

References _PANTILTRESOLUTION_, cPTU_Base::get_desired(), POSITION, and TILT.

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long cPTU_Control::GetDesiredTiltR

(

void

)

[inline]

Gets Desired Tilt Resolution (updated).

Returns:

The desired tilt resolution value

References cPTU_Base::get_desired(), RESOLUTION, and TILT.

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long cPTU_Control::GetDesiredTiltS

(

void

)

[inline]

Gets Desired Tilt Speed (updated).

Returns:

The desired tilt speed value

References cPTU_Base::get_desired(), SPEED, and TILT.

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double cPTU_Control::GetDesiredTiltSdegsec

(

void

)

[inline]

Gets Desired Tilt Speed (updated).

Returns:

The desired tilt speed value in degs/sec

References _PANTILTRESOLUTION_, cPTU_Base::get_desired(), SPEED, and TILT.

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int cPTU_Control::Halt

(

char

halt_type

)

[inline]

Immediatly stops movement (updated).

Parameters:

halt_type

Can be one of the three: PAN halts pan axis TILT halts tilt axis ALL halts both pan and tilt

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Base::halt().

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int cPTU_Control::OpenSerialPort	(	char *	sn,
		int	baud
	)			[inline]

References cPTU_Base::open_host_port(), cPTU_Base::open_host_port_38400(), PORT_NOT_OPENED, and cPTU_Base::reset_PTU_parser().

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int cPTU_Control::OpenSerialPort

(

char *

sn

)

[inline]

Class methods used to configure the serial port.

Opens serial port defined by sn (updated).

Parameters:

sn

Usually, in linux, serial port is /dev/ttyUSB0 (for USB connections) or /dev/ttyS0 (for serial connections)

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Base::open_host_port().

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int cPTU_Control::Reset

(

void

)

[inline]

Class methods used to configure PTU.

Resets pan and tilt unit. (updated).

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Base::reset_ptu().

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char cPTU_Control::Reset_Parser

(

long

time

)

[inline]

References cPTU_Base::reset_PTU_parser().

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int cPTU_Control::SetAsciiEchoMode

(

char

e

)

[inline]

Enables/Disables Echo mode.

Parameters:

e

if TRUE, echo mode is enabled. If FALSE, echo mode is disabled

Returns:

Function result (0 is OK; -1 NOK)

References COMMAND_EXECUTION_MODE, OFF_MODE, ON_MODE, and cPTU_Base::set_mode().

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int cPTU_Control::SetCheckLimits

(

unsigned char

val

)

[inline]

Several miscelaneous class methods.

Orders class to check for PTU limits before sending the orders.
If enabled, the inserted values are saturated to max or min values if necessary. By default, the class checks PTU limits before sending the orders.

Parameters:

val

TRUE to check or FALSE not to check.

Returns:

Function result (0 is OK; -1 NOK)

int cPTU_Control::SetImmediatePositionExecution

(

void

)

[inline]

Orders PTU unit to immediatly pursue the last ordered position.(updated).

Returns:

Function result (0 is OK; -1 NOK)

References COMMAND_EXECUTION_MODE, EXECUTE_IMMEDIATELY, and cPTU_Base::set_mode().

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int cPTU_Control::SetIndependentVelocityControl

(

void

)

[inline]

Enables Independent Velocity control.

Returns:

Function result (0 is OK; -1 NOK)

References PTU_INDEPENDENT_SPEED_CONTROL_MODE, cPTU_Base::set_mode(), and SPEED_CONTROL_MODE.

Referenced by ptucontrol_command_handler().

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int cPTU_Control::SetPureVelocityControl

(

void

)

[inline]

Enables Pure Velocity control.

Returns:

Function result (0 is OK; -1 NOK)

References PTU_PURE_VELOCITY_SPEED_CONTROL_MODE, cPTU_Base::set_mode(), and SPEED_CONTROL_MODE.

Referenced by ptucontrol_command_handler().

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int cPTU_Control::SetSlaveModeExecution

(

void

)

[inline]

Orders P&T unit go to every position ordered, regardless of any updating orders.(updated).

Returns:

Function result (0 is OK; -1 NOK)

References COMMAND_EXECUTION_MODE, EXECUTE_UPON_IMMEDIATE_OR_AWAIT, and cPTU_Base::set_mode().

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void cPTU_Control::Wait

(

int

t

)

[inline]

Waits for t miliseconds of for PTU completion (updated).

Waits for t miliseconds.

• If t>=0, the function waits for t miliseconds.
• If t<=0, the function waits for PTU to finish the commands being executed.
  

One can use define FORPTUTOSTOP as an argument of Wait if we want to wait for PTU completion

Parameters:

t

number of miliseconds to wait.

Returns:

void

References cPTU_Base::await_completion(), and cPTU_Base::do_delay().

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Field Documentation

char cPTU_Control::CheckLimits

char* cPTU_Control::ComPort

portstream_fd cPTU_Control::ComPortHandle

struct { ... } cPTU_Control::flg

struct { ... } cPTU_Control::Limits

int cPTU_Control::Max

int cPTU_Control::Min

struct { ... } cPTU_Control::Pan

struct { ... } cPTU_Control::PanS

struct { ... } cPTU_Control::Parameters [private]

double cPTU_Control::Resolution

struct { ... } cPTU_Control::Tilt

struct { ... } cPTU_Control::TiltS

char cPTU_Control::verbose

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The documentation for this class was generated from the following files:

• bases/ptucontrol/base_ptucontrol/ptu_control.h
• bases/ptucontrol/base_ptucontrol/group_limits.cpp
• bases/ptucontrol/base_ptucontrol/group_motion.cpp