Base_ptucontrol
[Ptucontrol]

This module handles rs232 low level communication with the PTU. More...

Collaboration diagram for Base_ptucontrol:

Data Structures
class	cPTU_Base
class	cPTU_Control
	Driver for Directed Perception Pan and Tilt units (PTU), model PTUD46. More...
Files
file	ptu_control.h
	header file
Defines
#define	FORPTUTOSTOP   -1
	Standart include. kde project default includes.
#define	_PANTILTRESOLUTION_   0.0514285
	Value used to convert degrees to pulses for the functions PanToAngle(double Angle) TiltToAngle(double Angle) and PanTiltAngleSpeed(double PanAngle, double TiltAngle, unsigned short int PanSpeed,unsigned short int TiltSpeed).
#define	DEBUG   0
#define	FALSE   0
#define	INT_REVERSED
#define	SERIAL_CODE_VERSION   "LINUX v1.0d"
#define	PORT_NOT_OPENED   -1
#define	TRUE   1
#define	FALSE   0
#define	AWAIT_CHARSTREAM   -1
#define	TIMEOUT_CHAR_READ   -1
portstream_fd	openserial (char *portname)
char	closeserial (portstream_fd)
char	SerialBytesOut (portstream_fd, unsigned char *, int)
char	SerialBytesIn (portstream_fd, unsigned char *, unsigned int, long)
char	PeekByte (portstream_fd, unsigned char *)
char	FlushInputBuffer (portstream_fd)
void	do_delay (long)
char	SerialStringOut (portstream_fd, unsigned char *)
char	ReadSerialLine (portstream_fd, unsigned char *, long, int *)
char	GetSignedShort (portstream_fd, signed short *, long)
char	PutSignedShort (portstream_fd, signed short *)
char	GetUnsignedShort (portstream_fd, unsigned short *, long)
char	PutUnsignedShort (portstream_fd, unsigned short *)
char	GetSignedLong (portstream_fd, signed long *, long)
char	PutSignedLong (portstream_fd, signed long *)
typedef int	portstream_fd
#define	OPCODE_VERSION   "v1.09.12"
#define	ASYNCHRONOUS_EVENT(char_val)   ( (char_val >= 220) && (char_val < 240) )
#define	PAN_LIMIT_HIT   220
#define	TILT_LIMIT_HIT   221
#define	CABLE_DISCONNECT_DETECTED   222
#define	PAN_POSITION_TRIGGER_HIT   223
#define	TILT_POSITION_TRIGGER_HIT   224
#define	PAN_SPEED_TRIGGER_HIT   225
#define	TILT_SPEED_TRIGGER_HIT   226
#define	PTU_HI_POWER   1
#define	PTU_REG_POWER   2
#define	PTU_LOW_POWER   3
#define	PTU_OFF_POWER   4
#define	PTU_INDEPENDENT_SPEED_CONTROL_MODE   1
#define	PTU_PURE_VELOCITY_SPEED_CONTROL_MODE   2
#define	PTU_OK   0
#define	PTU_ILLEGAL_COMMAND   2
#define	PTU_ILLEGAL_POSITION_ARGUMENT   3
#define	PTU_ILLEGAL_SPEED_ARGUMENT   4
#define	PTU_ACCEL_TABLE_EXCEEDED   5
#define	PTU_DEFAULTS_EEPROM_FAULT   6
#define	PTU_SAVED_DEFAULTS_CORRUPTED   7
#define	PTU_LIMIT_HIT   8
#define	PTU_CABLE_DISCONNECTED   9
#define	PTU_ILLEGAL_UNIT_ID   10
#define	PTU_ILLEGAL_POWER_MODE   11
#define	PTU_RESET_FAILED   12
#define	PTU_ILLEGAL_PARAMETERS   13
#define	PTU_DUART_ERROR   14
#define	GCU_ERROR   15
#define	PTU_ERROR   16
#define	NOT_SUPPORTED_BY_THIS_FIRMWARE_VERSION   17
#define	PTU_TILT_VANE_OUT_OF_RANGE_ERROR   19
#define	CHECKSUM_ERROR   20
#define	INTERACTIVE_MAIN_MENU   1
#define	DISPLAY_PAN_MOTOR_COMMANDS   2
#define	DISPLAY_TILT_MOTOR_COMMANDS   3
#define	DISPLAY_MENU_OPTIONS   4
#define	ILLEGAL_COMMAND_WITH_DELIMITER   5
#define	ASCII_COMMAND_WITH_NO_BINARY_EQUIV   6
#define	ILLEGAL_OPCODE   7
#define	ILLEGAL_ARGUMENT   8
#define	OPCODE_BASE   129
#define	MAX_OPCODE   235
#define	NUM_OPCODES   (MAX_OPCODE - OPCODE_BASE + 1)
#define	PAN_SET_ABS_POS   129
#define	TILT_SET_ABS_POS   130
#define	PAN_SET_REL_POS   131
#define	TILT_SET_REL_POS   132
#define	PAN_TILT_SET_ABS_POS   240
#define	PAN_TILT_GET_ABS_POS   241
#define	PAN_SET_REL_SPEED   133
#define	TILT_SET_REL_SPEED   134
#define	PAN_SET_ABS_SPEED   135
#define	TILT_SET_ABS_SPEED   136
#define	LAST_SIGNED_2BYTE_INT_OPCODE   136
#define	PAN_SET_BASE_SPEED   137
#define	TILT_SET_BASE_SPEED   138
#define	PAN_SET_UPPER_SPEED_LIMIT   139
#define	TILT_SET_UPPER_SPEED_LIMIT   140
#define	PAN_SET_LOWER_SPEED_LIMIT   141
#define	TILT_SET_LOWER_SPEED_LIMIT   142
#define	SET_UNIT_ID   143
#define	SELECT_UNIT_ID   144
#define	LAST_2BYTE_INT_OPCODE   144
#define	PAN_CURRENT_POS_QUERY   145
#define	TILT_CURRENT_POS_QUERY   146
#define	PAN_DESIRED_POS_QUERY   147
#define	TILT_DESIRED_POS_QUERY   148
#define	PAN_MIN_POSITION_QUERY   149
#define	TILT_MIN_POSITION_QUERY   150
#define	PAN_MAX_POSITION_QUERY   151
#define	TILT_MAX_POSITION_QUERY   152
#define	PAN_CURRENT_SPEED_QUERY   153
#define	TILT_CURRENT_SPEED_QUERY   154
#define	PAN_DESIRED_SPEED_QUERY   155
#define	TILT_DESIRED_SPEED_QUERY   156
#define	PAN_BASE_SPEED_QUERY   157
#define	TILT_BASE_SPEED_QUERY   158
#define	PAN_UPPER_SPEED_LIMIT_QUERY   159
#define	TILT_UPPER_SPEED_LIMIT_QUERY   160
#define	PAN_LOWER_SPEED_LIMIT_QUERY   161
#define	TILT_LOWER_SPEED_LIMIT_QUERY   162
#define	PAN_ACCEL_QUERY   163
#define	TILT_ACCEL_QUERY   164
#define	PAN_RESOLUTION_QUERY   165
#define	TILT_RESOLUTION_QUERY   166
#define	AWAIT_COMMAND_COMPLETION   167
#define	HALT   168
#define	HALT_PAN   169
#define	HALT_TILT   170
#define	POSITION_LIMITS_QUERY   171
#define	ENABLE_POSITION_LIMITS   172
#define	DISABLE_POSITION_LIMITS   173
#define	SET_IMMEDIATE_COMMAND_MODE   174
#define	SET_SLAVED_COMMAND_MODE   175
#define	UNIT_RESET   176
#define	UNIT_RESET_ON_POWERUP   177
#define	UNIT_RESET_ON_POWERUP_DISABLED   178
#define	UNIT_ID_QUERY   179
#define	ECHO_QUERY   180
#define	ENABLE_ECHO   181
#define	DISABLE_ECHO   182
#define	SAVE_DEFAULTS   183
#define	RESTORE_SAVED_DEFAULTS   184
#define	RESTORE_FACTORY_DEFAULTS   185
#define	PAN_HOLD_POWER_QUERY   186
#define	TILT_HOLD_POWER_QUERY   187
#define	PAN_MOVE_POWER_QUERY   188
#define	TILT_MOVE_POWER_QUERY   189
#define	VERBOSE_QUERY   190
#define	SET_VERBOSE_ASCII_ON   191
#define	SET_VERBOSE_ASCII_OFF   192
#define	JOYSTICK_QUERY   193
#define	ENABLE_JOYSTICK   194
#define	DISABLE_JOYSTICK   195
#define	FIRMWARE_VERSION_QUERY   196
#define	LAST_0ARG_OPCODE   196
#define	PAN_SET_HOLD_POWER   197
#define	TILT_SET_HOLD_POWER   198
#define	PAN_SET_MOVE_POWER   199
#define	TILT_SET_MOVE_POWER   200
#define	LAST_1BYTE_ARG_OPCODE   200
#define	PAN_SET_ACCEL   201
#define	TILT_SET_ACCEL   202
#define	LAST_4BYTE_ARG_OPCODE   202
#define	SPECIAL_OPCODE   203
#define	QUERY_SPEED_CONTROL_MODE   203
#define	SET_INDEPENDENT_CONTROL_MODE   204
#define	SET_PURE_VELOCITY_CONTROL_MODE   205
#define	UNIT_RESET_PAN   220
#define	UNIT_RESET_TILT   221
#define	SET_DESIRED_PTU_MOTION   222
#define	QUERY_CURRENT_PTU_MOTION   223
#define	OUTSIDE_ENVIRONMENT_QUERY   224
#define	PRESET_SET   225
#define	PRESET_GOTO   226
#define	PRESET_CLEAR   227
#define	TTL_CONTROLS   228
#define	TRIGGER_CONTROLS   229
#define	TRIGGER_OP_on   01
#define	TRIGGER_OP_off   02
#define	TRIGGER_OP_numPending   04
#define	ISM_SET_PAN_DRIFT_RATE   230
#define	ISM_SET_TILT_DRIFT_RATE   231
#define	ISM_GET_PAN_DRIFT_RATE   232
#define	ISM_GET_TILT_DRIFT_RATE   233
#define	SET_DESIRED_VELOCITIES   234
#define	SET_DESIRED_VELOCITES_GET_POS   235
#define	PTU_CPI_CODE_VERSION   "v1.09.12"
#define	PTU_OPCODE_VERSION   "v1.07.07d"
#define	PTU_modelVersion   1
#define	PTU_codeVersion   7
#define	PTU_revision   6
#define	PLN   printf("debug line %d\n",__LINE__);
char	err
static portstream_fd	current_host_port
static char	speed_control_mode = PTU_INDEPENDENT_SPEED_CONTROL_MODE
static char	CHA_comm_active = FALSE
#define	PTU_OK   0
#define	PTU_ILLEGAL_COMMAND_ARGUMENT   1
#define	PTU_ILLEGAL_COMMAND   2
#define	PTU_ILLEGAL_POSITION_ARGUMENT   3
#define	PTU_ILLEGAL_SPEED_ARGUMENT   4
#define	PTU_ACCEL_TABLE_EXCEEDED   5
#define	PTU_DEFAULTS_EEPROM_FAULT   6
#define	PTU_SAVED_DEFAULTS_CORRUPTED   7
#define	PTU_LIMIT_HIT   8
#define	PTU_CABLE_DISCONNECTED   9
#define	PTU_ILLEGAL_UNIT_ID   10
#define	PTU_ILLEGAL_POWER_MODE   11
#define	PTU_RESET_FAILED   12
#define	PTU_NOT_RESPONDING   13
#define	PTU_FIRMWARE_VERSION_TOO_LOW   14
#define	PAN   1
#define	TILT   2
#define	POSITION   1
#define	SPEED   2
#define	ACCELERATION   3
#define	BASE   4
#define	UPPER_SPEED_LIMIT   5
#define	LOWER_SPEED_LIMIT   6
#define	MINIMUM_POSITION   7
#define	MAXIMUM_POSITION   8
#define	HOLD_POWER_LEVEL   9
#define	MOVE_POWER_LEVEL   10
#define	RESOLUTION   11
#define	ISM_DRIFT   12
#define	RELATIVE   1
#define	ABSOLUTE   2
#define	QUERY   NULL
#define	PTU_HI_POWER   1
#define	PTU_REG_POWER   2
#define	PTU_LOW_POWER   3
#define	PTU_OFF_POWER   4
#define	COMMAND_EXECUTION_MODE   1
#define	ASCII_VERBOSE_MODE   2
#define	ASCII_ECHO_MODE   3
#define	POSITION_LIMITS_MODE   4
#define	DEFAULTS   5
#define	SPEED_CONTROL_MODE   6
#define	EXECUTE_IMMEDIATELY   1
#define	EXECUTE_UPON_IMMEDIATE_OR_AWAIT   2
#define	VERBOSE   1
#define	TERSE   0
#define	ON_MODE   1
#define	OFF_MODE   0
#define	SAVE_CURRENT_SETTINGS   0
#define	RESTORE_SAVED_SETTINGS   1
#define	RESTORE_FACTORY_SETTINGS   2
#define	QUERY_MODE   3
#define	ALL   3
unsigned char	execute_set_desired_velocities (signed short int *, signed short int *)
char	set_ISM_desired_abs_positions (signed short int *Ppos, signed short int *Tpos)
char	get_ISM_desired_abs_positions (signed short int *Ppos, signed short int *Tpos)
typedef short int	PTU_PARM_PTR
typedef unsigned short int	UID_fd
typedef unsigned char(*	event_handler_fn_ptr_type )(unsigned char)
short int	cPTU_Control::CheckPanLimits (short int Pos, unsigned char checkflag)
	Class methods used to check if pan, speed and acceleration values are within allowed values.
short int	cPTU_Control::CheckTiltLimits (short int Pos, unsigned char checkflag)
	Checks for tilt limits.
unsigned short int	cPTU_Control::CheckPanSLimits (unsigned short int Sp, unsigned char checkflag)
	Checks for pan speed limits.
unsigned short int	cPTU_Control::CheckTiltSLimits (unsigned short int Sp, unsigned char checkflag)
	Checks for tilt speed limits.
int	cPTU_Control::SetPanSpeed (unsigned short int Speed)
	Class methods used to set PTU motion parameters, position, speed and acceleration.
int	cPTU_Control::SetTiltSpeed (unsigned short int Speed)
	Sets tilt speed (updated).
int	cPTU_Control::PanToPosition (short int Pos)
	Pans unit to Pos position. (updated).
int	cPTU_Control::PanToAngle (double Angle)
	Pans unit to angle Angle.
int	cPTU_Control::PanOffsetToPosition (int Offset)
	Pans unit to Offset from current position.
int	cPTU_Control::TiltToPosition (short int Pos)
	Tilts unit to Pos position. (updated).
int	cPTU_Control::TiltToAngle (double Angle)
	Tilts unit to angle Angle.
int	cPTU_Control::TiltOffsetToPosition (int Offset)
	Tilts unit to Offset from current position.
int	cPTU_Control::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	cPTU_Control::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	cPTU_Control::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	cPTU_Control::SetPureVelocity (signed short int ps, signed short int ts)
	Sets Pan and Tilt velocities. Pure velocity control must be enabled using SetPureVelocityControl(void).
int	cPTU_Control::SetPureVelocity_DegperSec (double ps, double ts)
	Sets Pan and Tilt velocities. Pure velocity control must be enabled using SetPureVelocityControl(void).

---

Detailed Description

This module handles rs232 low level communication with the PTU.

---

Define Documentation

#define _PANTILTRESOLUTION_   0.0514285

Value used to convert degrees to pulses for the functions PanToAngle(double Angle) TiltToAngle(double Angle) and PanTiltAngleSpeed(double PanAngle, double TiltAngle, unsigned short int PanSpeed,unsigned short int TiltSpeed).

Referenced by cPTU_Control::cPTU_Control(), cPTU_Control::GetCurrentPanPdeg(), cPTU_Control::GetCurrentPanSdegsec(), cPTU_Control::GetCurrentTiltPdeg(), cPTU_Control::GetCurrentTiltSdegsec(), cPTU_Control::GetDesiredPanPdeg(), cPTU_Control::GetDesiredPanSdegsec(), cPTU_Control::GetDesiredTiltPdeg(), cPTU_Control::GetDesiredTiltSdegsec(), and cPTU_Control::SetPureVelocity_DegperSec().

#define ABSOLUTE   2

Referenced by cPTU_Control::PanToPosition(), cPTU_Base::set_desired(), cPTU_Control::SetPanSpeed(), cPTU_Control::SetTiltSpeed(), and cPTU_Control::TiltToPosition().

#define ACCELERATION   3

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Control::GetCurrentPanA(), cPTU_Control::GetCurrentTiltA(), cPTU_Control::GetDesiredPanA(), cPTU_Control::GetDesiredTiltA(), and cPTU_Base::set_desired().

#define ALL   3

#define ASCII_COMMAND_WITH_NO_BINARY_EQUIV   6

#define ASCII_ECHO_MODE   3

Referenced by cPTU_Base::set_mode().

#define ASCII_VERBOSE_MODE   2

Referenced by cPTU_Base::set_mode().

#define ASYNCHRONOUS_EVENT

(

char_val

)

( (char_val >= 220) && (char_val < 240) )

Referenced by cPTU_Base::get_binary_command_return_status(), cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define AWAIT_CHARSTREAM   -1

#define AWAIT_COMMAND_COMPLETION   167

Referenced by cPTU_Base::await_completion().

#define BASE   4

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), and cPTU_Base::set_desired().

#define CABLE_DISCONNECT_DETECTED   222

Referenced by cPTU_Base::default_async_event_handler().

#define CHECKSUM_ERROR   20

#define COMMAND_EXECUTION_MODE   1

Referenced by cPTU_Base::set_mode(), cPTU_Control::SetAsciiEchoMode(), cPTU_Control::SetImmediatePositionExecution(), and cPTU_Control::SetSlaveModeExecution().

#define DEBUG   0

#define DEFAULTS   5

Referenced by cPTU_Base::set_mode().

#define DISABLE_ECHO   182

Referenced by cPTU_Base::set_mode().

#define DISABLE_JOYSTICK   195

#define DISABLE_POSITION_LIMITS   173

Referenced by cPTU_Base::set_mode().

#define DISPLAY_MENU_OPTIONS   4

#define DISPLAY_PAN_MOTOR_COMMANDS   2

#define DISPLAY_TILT_MOTOR_COMMANDS   3

#define ECHO_QUERY   180

Referenced by cPTU_Base::set_mode().

#define ENABLE_ECHO   181

Referenced by cPTU_Base::set_mode().

#define ENABLE_JOYSTICK   194

#define ENABLE_POSITION_LIMITS   172

Referenced by cPTU_Base::set_mode().

#define EXECUTE_IMMEDIATELY   1

Referenced by cPTU_Base::set_mode(), and cPTU_Control::SetImmediatePositionExecution().

#define EXECUTE_UPON_IMMEDIATE_OR_AWAIT   2

Referenced by cPTU_Base::set_mode(), and cPTU_Control::SetSlaveModeExecution().

#define FALSE   0

#define FALSE   0

Referenced by auxiliar_firei_server_3_shm_to_message(), auxiliar_hokuyo_shm_to_message(), auxiliar_ipm_shm_to_message(), button_press_event(), calculate_freespace_lanemarkers(), calculate_freespace_laserobstacles(), calculate_traj_distance_to_atractor_pts(), calculate_traj_distance_to_repulsor_pts(), carmen_gps_parse_data(), check_status(), class_advancedfloodfill::clear_filled_values(), class_advancedfloodfill::clear_seed_values(), clusters2objects(), compute_distance_traveled(), cPTU_Base::config_CHA(), cPTU_Base::config_CHA_38400(), create_groups_from_basepoints(), createWindow(), cross_computation(), playback::Deactivate(), delete_event(), DEVICE_read_data(), DEVICE_send(), class_advancedfloodfill::do_floodfill(), draw(), draw_obstacles(), drawGPSpoint(), expose_event(), fill_group_lines(), filtergroup_byavgwidth(), filtergroup_bynormalcount(), filtergroup_bynormalgradsigma(), filtergroup_bynormalsigma(), filtergroup_bywidthsigma(), filtergroups_bysize(), filtergroups_byvalleys(), findgroups_rightpix(), cPTU_Base::firmware_version_OK(), cPTU_Base::get_binary_command_return_status(), get_new_target_information(), getfinallines(), base_firei_control::GetFrame(), base_firei_control::GetFrame_dma(), getgroup_overallcandidate(), getnormaltogroup(), gps_parse_gga(), gps_parse_rmc(), high_level_obstacle_avoidance_and_speed_control(), idle(), playback::IndexHandler(), istrue(), layoutWidgets(), logger::logger(), main(), base_firei_control::OpenHandle(), optional_signs_computation(), cPTU_Base::PeekByte(), plugin_init(), logger::ReadFormatsFromFile(), cPTU_Base::ReadSerialLine(), relocate_atractor_pts(), cPTU_Base::reset_PTU_parser(), search_for_new_target(), send_dir_and_speed(), send_vs_command(), cPTU_Base::SerialBytesIn(), cPTU_Base::SerialBytesOut(), cPTU_Base::talkto_CHA(), cPTU_Base::talkto_PTUcontroller(), and writeData().

#define FIRMWARE_VERSION_QUERY   196

Referenced by cPTU_Base::firmware_version().

#define FORPTUTOSTOP   -1

Standart include. kde project default includes.

Standart include. kde project default includes.

Standart include. input output definitions.

#ifndef _PTU_BASE_H_
#define _PTU_BASE_H_

#include <termios.h>
#include <stdio.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/time.h>
#include <unistd.h>
#include <string.h>
#include <stdio.h>
#include <ctype.h>
#include <string.h>


#include "linuxser.h"
#include "ptu.h"
#include "opcodes.h"


class cPTU_Base
{
public:

//  cPTU_Base(){async_event_handler_fn_ptr = (unsigned char (*) (unsigned char)) default_async_event_handler;};
//  cPTU_Base(){async_event_handler_fn_ptr = (unsigned char) default_async_event_handler;};

    //From linuxser.c
    portstream_fd openserial(char *portname);
    portstream_fd openserial_38400(char *portname);
    char closeserial(portstream_fd pt_fd);
    char SerialBytesOut(portstream_fd pt_fd, unsigned char *buffer,int nBytes);
    char SerialBytesIn (portstream_fd pt_fd, unsigned char *buffer, unsigned int nBytes, long timeoutVal);
    char PeekByte(portstream_fd portstream, unsigned char *peekedByte);
    char FlushInputBuffer(portstream_fd pt_fd);
    char SerialStringOut(portstream_fd pt_fd, unsigned char *buffer);
    char ReadSerialLine(portstream_fd pt_fd, unsigned char *strbuffer, long timeoutVal, int *charsRead);
    void do_delay(long millisec);
    char GetSignedShort(portstream_fd portstream, signed short *SHORTval, long timeout);
    char PutSignedShort(portstream_fd portstream, signed short *SHORTval);
    char GetUnsignedShort(portstream_fd portstream, unsigned short *USHORTval, long timeout);
    char PutUnsignedShort(portstream_fd portstream, unsigned short *USHORTval);
    char GetSignedLong(portstream_fd portstream, signed long *LONGval, long timeout);
    char PutSignedLong(portstream_fd portstream, signed long *LONGval);


    char reset_ptu_tilt(void);
    unsigned char default_async_event_handler(unsigned char async_event);
    unsigned char set_async_event_handler( void (*async_event_handler) (unsigned char) );
    portstream_fd open_host_port(char *portname);
    portstream_fd open_host_port_38400(char *portname);
    /*extern */char set_baud_rate(int baudrate);
    char close_host_port(portstream_fd portstream);
    unsigned char GetSerialChar(char await_char);
    unsigned char get_binary_command_return_status();
    char SerialOut(unsigned char outchar);
    unsigned char SerialIn();
    char select_host_port(portstream_fd portstream);
    char reset_ptu(void);
    char reset_ptu_pan(void);
    char firmware_version_OK(void);
    char reset_PTU_parser(long timeout_in_msec);
    char set_desired(char axis, char kinematic_property,PTU_PARM_PTR *value, char movement_mode);
    char await_completion(void);
    long get_current(char axis, char kinematic_property);
    long get_desired(char axis, char kinematic_property);
    char set_mode(char mode_type, char mode_parameter);
    char halt(char halt_type);
    char* firmware_version(void);
    char select_unit(UID_fd unit_ID);
    char set_unit_id(UID_fd unit_ID);
    char set_PTU_motion(short int desired_pan_pos, short int desired_tilt_pos, unsigned short int desired_pan_speed, unsigned short int desired_tilt_speed);
    char get_PTU_motion(short int *desired_pan_pos, short int *desired_tilt_pos,unsigned short int *desired_pan_speed, unsigned short int *desired_tilt_speed);
    char config_CHA();
    char config_CHA_38400();
    char talkto_CHA();
    char talkto_PTUcontroller();
    char set_pure_velocities(signed short int *pan_speed, signed short int *tilt_speed);
    unsigned char set_TTL_outputs(unsigned char in_TTL_control_byte);
    unsigned char get_TTL_values();
    unsigned char TriggerOn(signed short int startPanPos, signed short int deltaPos, signed short int numTriggers);
    unsigned char TriggerOff();
    signed short int TriggersPending();
    char set_desired_abs_positions(signed short int *Ppos, signed short int *Tpos);
    char get_current_positions(signed short int *Ppos, signed short int *Tpos);
    char set_ISM_desired_abs_positions(signed short int *Ppos, signed short int *Tpos);
    char get_ISM_desired_abs_positions(signed short int *Ppos, signed short int *Tpos);
    unsigned char checksum_on_2_2B(unsigned char *val1, unsigned char *val2);
    unsigned char execute_set_desired_velocities(signed short int *Pspeed, signed short int *Tspeed);
    //unsigned char checksum_on_2_2B(unsigned char *val1, unsigned char *val2);
    //unsigned char execute_set_desired_velocities(signed short int *Pspeed, signed short int *Tspeed);


    event_handler_fn_ptr_type async_event_handler_fn_ptr;

private:


};
#endif

header for base class built from C Programmers Interface given by Directed Perception.

Possible argument of Wait(int t) when we wish to wait completion of some PTU motion.

#define GCU_ERROR   15

#define HALT   168

Referenced by cPTU_Base::halt().

#define HALT_PAN   169

Referenced by cPTU_Base::halt().

#define HALT_TILT   170

Referenced by cPTU_Base::halt().

#define HOLD_POWER_LEVEL   9

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), and cPTU_Base::set_desired().

#define ILLEGAL_ARGUMENT   8

#define ILLEGAL_COMMAND_WITH_DELIMITER   5

#define ILLEGAL_OPCODE   7

#define INT_REVERSED

#define INTERACTIVE_MAIN_MENU   1

#define ISM_DRIFT   12

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), and cPTU_Base::set_desired().

#define ISM_GET_PAN_DRIFT_RATE   232

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define ISM_GET_TILT_DRIFT_RATE   233

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define ISM_SET_PAN_DRIFT_RATE   230

Referenced by cPTU_Base::set_desired().

#define ISM_SET_TILT_DRIFT_RATE   231

Referenced by cPTU_Base::set_desired().

#define JOYSTICK_QUERY   193

#define LAST_0ARG_OPCODE   196

#define LAST_1BYTE_ARG_OPCODE   200

#define LAST_2BYTE_INT_OPCODE   144

#define LAST_4BYTE_ARG_OPCODE   202

#define LAST_SIGNED_2BYTE_INT_OPCODE   136

#define LOWER_SPEED_LIMIT   6

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), and cPTU_Base::set_desired().

#define MAX_OPCODE   235

#define MAXIMUM_POSITION   8

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define MINIMUM_POSITION   7

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define MOVE_POWER_LEVEL   10

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), and cPTU_Base::set_desired().

#define NOT_SUPPORTED_BY_THIS_FIRMWARE_VERSION   17

#define NUM_OPCODES   (MAX_OPCODE - OPCODE_BASE + 1)

#define OFF_MODE   0

Referenced by cPTU_Base::set_mode(), and cPTU_Control::SetAsciiEchoMode().

#define ON_MODE   1

Referenced by cPTU_Base::set_mode(), and cPTU_Control::SetAsciiEchoMode().

#define OPCODE_BASE   129

#define OPCODE_VERSION   "v1.09.12"

#define OUTSIDE_ENVIRONMENT_QUERY   224

#define PAN   1

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Control::GetCurrentPanA(), cPTU_Control::GetCurrentPanP(), cPTU_Control::GetCurrentPanS(), cPTU_Control::GetCurrentPanSdegsec(), cPTU_Control::GetDesiredPanA(), cPTU_Control::GetDesiredPanP(), cPTU_Control::GetDesiredPanPdeg(), cPTU_Control::GetDesiredPanR(), cPTU_Control::GetDesiredPanS(), cPTU_Control::GetDesiredPanSdegsec(), cPTU_Base::halt(), cPTU_Control::PanToPosition(), cPTU_Base::set_desired(), and cPTU_Control::SetPanSpeed().

#define PAN_ACCEL_QUERY   163

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PAN_BASE_SPEED_QUERY   157

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PAN_CURRENT_POS_QUERY   145

Referenced by cPTU_Base::get_current(), cPTU_Base::get_current_positions(), and cPTU_Base::get_ISM_desired_abs_positions().

#define PAN_CURRENT_SPEED_QUERY   153

Referenced by cPTU_Base::get_current().

#define PAN_DESIRED_POS_QUERY   147

Referenced by cPTU_Base::get_desired().

#define PAN_DESIRED_SPEED_QUERY   155

Referenced by cPTU_Base::get_desired().

#define PAN_HOLD_POWER_QUERY   186

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), and cPTU_Base::reset_PTU_parser().

#define PAN_LIMIT_HIT   220

Referenced by cPTU_Base::default_async_event_handler(), cPTU_Base::reset_ptu(), cPTU_Base::reset_ptu_pan(), and cPTU_Base::reset_ptu_tilt().

#define PAN_LOWER_SPEED_LIMIT_QUERY   161

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PAN_MAX_POSITION_QUERY   151

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PAN_MIN_POSITION_QUERY   149

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PAN_MOVE_POWER_QUERY   188

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PAN_POSITION_TRIGGER_HIT   223

#define PAN_RESOLUTION_QUERY   165

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PAN_SET_ABS_POS   129

Referenced by cPTU_Base::set_desired(), and cPTU_Base::set_desired_abs_positions().

#define PAN_SET_ABS_SPEED   135

Referenced by cPTU_Base::set_desired(), and cPTU_Base::set_pure_velocities().

#define PAN_SET_ACCEL   201

Referenced by cPTU_Base::set_desired().

#define PAN_SET_BASE_SPEED   137

Referenced by cPTU_Base::set_desired().

#define PAN_SET_HOLD_POWER   197

Referenced by cPTU_Base::set_desired().

#define PAN_SET_LOWER_SPEED_LIMIT   141

Referenced by cPTU_Base::set_desired().

#define PAN_SET_MOVE_POWER   199

Referenced by cPTU_Base::set_desired().

#define PAN_SET_REL_POS   131

Referenced by cPTU_Base::set_desired().

#define PAN_SET_REL_SPEED   133

Referenced by cPTU_Base::set_desired().

#define PAN_SET_UPPER_SPEED_LIMIT   139

Referenced by cPTU_Base::set_desired().

#define PAN_SPEED_TRIGGER_HIT   225

#define PAN_TILT_GET_ABS_POS   241

#define PAN_TILT_SET_ABS_POS   240

Referenced by cPTU_Base::set_ISM_desired_abs_positions().

#define PAN_UPPER_SPEED_LIMIT_QUERY   159

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define PLN   printf("debug line %d\n",__LINE__);

Referenced by firei_0_image_handler(), firei_1_image_handler(), main(), and cPTU_Base::set_pure_velocities().

#define PORT_NOT_OPENED   -1

Referenced by cPTU_Base::close_host_port(), cPTU_Base::closeserial(), cPTU_Base::openserial(), cPTU_Base::openserial_38400(), cPTU_Control::OpenSerialPort(), and cPTU_Base::SerialBytesIn().

#define POSITION   1

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Control::GetCurrentPanP(), cPTU_Control::GetCurrentTiltP(), cPTU_Control::GetDesiredPanP(), cPTU_Control::GetDesiredPanPdeg(), cPTU_Control::GetDesiredTiltP(), cPTU_Control::GetDesiredTiltPdeg(), cPTU_Control::PanToPosition(), cPTU_Base::set_desired(), and cPTU_Control::TiltToPosition().

#define POSITION_LIMITS_MODE   4

Referenced by cPTU_Base::set_mode().

#define POSITION_LIMITS_QUERY   171

Referenced by cPTU_Base::set_mode().

#define PRESET_CLEAR   227

#define PRESET_GOTO   226

#define PRESET_SET   225

#define PTU_ACCEL_TABLE_EXCEEDED   5

#define PTU_ACCEL_TABLE_EXCEEDED   5

#define PTU_CABLE_DISCONNECTED   9

#define PTU_CABLE_DISCONNECTED   9

#define PTU_codeVersion   7

Referenced by cPTU_Base::firmware_version_OK().

#define PTU_CPI_CODE_VERSION   "v1.09.12"

#define PTU_DEFAULTS_EEPROM_FAULT   6

#define PTU_DEFAULTS_EEPROM_FAULT   6

#define PTU_DUART_ERROR   14

#define PTU_ERROR   16

#define PTU_FIRMWARE_VERSION_TOO_LOW   14

#define PTU_HI_POWER   1

#define PTU_HI_POWER   1

#define PTU_ILLEGAL_COMMAND   2

#define PTU_ILLEGAL_COMMAND   2

#define PTU_ILLEGAL_COMMAND_ARGUMENT   1

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Base::set_desired(), and cPTU_Base::set_mode().

#define PTU_ILLEGAL_PARAMETERS   13

#define PTU_ILLEGAL_POSITION_ARGUMENT   3

#define PTU_ILLEGAL_POSITION_ARGUMENT   3

#define PTU_ILLEGAL_POWER_MODE   11

#define PTU_ILLEGAL_POWER_MODE   11

#define PTU_ILLEGAL_SPEED_ARGUMENT   4

#define PTU_ILLEGAL_SPEED_ARGUMENT   4

#define PTU_ILLEGAL_UNIT_ID   10

#define PTU_ILLEGAL_UNIT_ID   10

#define PTU_INDEPENDENT_SPEED_CONTROL_MODE   1

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Base::set_desired(), cPTU_Base::set_mode(), and cPTU_Control::SetIndependentVelocityControl().

#define PTU_LIMIT_HIT   8

#define PTU_LIMIT_HIT   8

#define PTU_LOW_POWER   3

#define PTU_LOW_POWER   3

#define PTU_modelVersion   1

Referenced by cPTU_Base::firmware_version_OK().

#define PTU_NOT_RESPONDING   13

Referenced by cPTU_Base::reset_PTU_parser().

#define PTU_OFF_POWER   4

#define PTU_OFF_POWER   4

Referenced by cPTU_Base::reset_PTU_parser().

#define PTU_OK   0

Referenced by cPTU_Base::get_PTU_motion(), cPTU_Base::reset_PTU_parser(), and cPTU_Base::set_pure_velocities().

#define PTU_OK   0

#define PTU_OPCODE_VERSION   "v1.07.07d"

#define PTU_PURE_VELOCITY_SPEED_CONTROL_MODE   2

Referenced by cPTU_Base::set_mode(), and cPTU_Control::SetPureVelocityControl().

#define PTU_REG_POWER   2

#define PTU_REG_POWER   2

Referenced by cPTU_Base::reset_PTU_parser().

#define PTU_RESET_FAILED   12

#define PTU_RESET_FAILED   12

#define PTU_revision   6

Referenced by cPTU_Base::firmware_version_OK().

#define PTU_SAVED_DEFAULTS_CORRUPTED   7

#define PTU_SAVED_DEFAULTS_CORRUPTED   7

#define PTU_TILT_VANE_OUT_OF_RANGE_ERROR   19

#define QUERY   NULL

#define QUERY_CURRENT_PTU_MOTION   223

Referenced by cPTU_Base::get_PTU_motion().

#define QUERY_MODE   3

Referenced by cPTU_Base::set_mode().

#define QUERY_SPEED_CONTROL_MODE   203

Referenced by cPTU_Base::set_mode().

#define RELATIVE   1

Referenced by cPTU_Base::set_desired().

#define RESOLUTION   11

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Control::GetDesiredPanR(), and cPTU_Control::GetDesiredTiltR().

#define RESTORE_FACTORY_DEFAULTS   185

Referenced by cPTU_Base::set_mode().

#define RESTORE_FACTORY_SETTINGS   2

Referenced by cPTU_Base::set_mode().

#define RESTORE_SAVED_DEFAULTS   184

Referenced by cPTU_Base::set_mode().

#define RESTORE_SAVED_SETTINGS   1

Referenced by cPTU_Base::set_mode().

#define SAVE_CURRENT_SETTINGS   0

Referenced by cPTU_Base::set_mode().

#define SAVE_DEFAULTS   183

Referenced by cPTU_Base::set_mode().

#define SELECT_UNIT_ID   144

#define SERIAL_CODE_VERSION   "LINUX v1.0d"

#define SET_DESIRED_PTU_MOTION   222

Referenced by cPTU_Base::set_PTU_motion().

#define SET_DESIRED_VELOCITES_GET_POS   235

#define SET_DESIRED_VELOCITIES   234

Referenced by cPTU_Base::execute_set_desired_velocities().

#define SET_IMMEDIATE_COMMAND_MODE   174

Referenced by cPTU_Base::set_mode().

#define SET_INDEPENDENT_CONTROL_MODE   204

Referenced by cPTU_Base::set_mode().

#define SET_PURE_VELOCITY_CONTROL_MODE   205

Referenced by cPTU_Base::set_mode().

#define SET_SLAVED_COMMAND_MODE   175

Referenced by cPTU_Base::set_mode().

#define SET_UNIT_ID   143

Referenced by cPTU_Base::set_unit_id().

#define SET_VERBOSE_ASCII_OFF   192

Referenced by cPTU_Base::set_mode().

#define SET_VERBOSE_ASCII_ON   191

Referenced by cPTU_Base::set_mode().

#define SPECIAL_OPCODE   203

#define SPEED   2

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Control::GetCurrentPanS(), cPTU_Control::GetCurrentPanSdegsec(), cPTU_Control::GetCurrentTiltS(), cPTU_Control::GetCurrentTiltSdegsec(), cPTU_Control::GetDesiredPanS(), cPTU_Control::GetDesiredPanSdegsec(), cPTU_Control::GetDesiredTiltS(), cPTU_Control::GetDesiredTiltSdegsec(), cPTU_Base::set_desired(), cPTU_Control::SetPanSpeed(), and cPTU_Control::SetTiltSpeed().

#define SPEED_CONTROL_MODE   6

Referenced by cPTU_Base::set_mode(), cPTU_Control::SetIndependentVelocityControl(), and cPTU_Control::SetPureVelocityControl().

#define TERSE   0

Referenced by cPTU_Base::set_mode().

#define TILT   2

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Control::GetCurrentTiltA(), cPTU_Control::GetCurrentTiltP(), cPTU_Control::GetCurrentTiltS(), cPTU_Control::GetCurrentTiltSdegsec(), cPTU_Control::GetDesiredTiltA(), cPTU_Control::GetDesiredTiltP(), cPTU_Control::GetDesiredTiltPdeg(), cPTU_Control::GetDesiredTiltR(), cPTU_Control::GetDesiredTiltS(), cPTU_Control::GetDesiredTiltSdegsec(), cPTU_Base::halt(), cPTU_Base::set_desired(), cPTU_Control::SetTiltSpeed(), and cPTU_Control::TiltToPosition().

#define TILT_ACCEL_QUERY   164

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_BASE_SPEED_QUERY   158

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_CURRENT_POS_QUERY   146

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_current_positions().

#define TILT_CURRENT_SPEED_QUERY   154

Referenced by cPTU_Base::get_current().

#define TILT_DESIRED_POS_QUERY   148

Referenced by cPTU_Base::get_desired().

#define TILT_DESIRED_SPEED_QUERY   156

Referenced by cPTU_Base::get_desired().

#define TILT_HOLD_POWER_QUERY   187

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_LIMIT_HIT   221

Referenced by cPTU_Base::default_async_event_handler(), cPTU_Base::reset_ptu(), cPTU_Base::reset_ptu_pan(), and cPTU_Base::reset_ptu_tilt().

#define TILT_LOWER_SPEED_LIMIT_QUERY   162

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_MAX_POSITION_QUERY   152

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_MIN_POSITION_QUERY   150

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_MOVE_POWER_QUERY   189

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_POSITION_TRIGGER_HIT   224

#define TILT_RESOLUTION_QUERY   166

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TILT_SET_ABS_POS   130

Referenced by cPTU_Base::set_desired(), and cPTU_Base::set_desired_abs_positions().

#define TILT_SET_ABS_SPEED   136

Referenced by cPTU_Base::set_desired(), and cPTU_Base::set_pure_velocities().

#define TILT_SET_ACCEL   202

Referenced by cPTU_Base::set_desired().

#define TILT_SET_BASE_SPEED   138

Referenced by cPTU_Base::set_desired().

#define TILT_SET_HOLD_POWER   198

Referenced by cPTU_Base::set_desired().

#define TILT_SET_LOWER_SPEED_LIMIT   142

Referenced by cPTU_Base::set_desired().

#define TILT_SET_MOVE_POWER   200

Referenced by cPTU_Base::set_desired().

#define TILT_SET_REL_POS   132

Referenced by cPTU_Base::set_desired().

#define TILT_SET_REL_SPEED   134

Referenced by cPTU_Base::set_desired().

#define TILT_SET_UPPER_SPEED_LIMIT   140

Referenced by cPTU_Base::set_desired().

#define TILT_SPEED_TRIGGER_HIT   226

#define TILT_UPPER_SPEED_LIMIT_QUERY   160

Referenced by cPTU_Base::get_current(), and cPTU_Base::get_desired().

#define TIMEOUT_CHAR_READ   -1

Referenced by cPTU_Base::ReadSerialLine().

#define TRIGGER_CONTROLS   229

Referenced by cPTU_Base::TriggerOff(), cPTU_Base::TriggerOn(), and cPTU_Base::TriggersPending().

#define TRIGGER_OP_numPending   04

Referenced by cPTU_Base::TriggersPending().

#define TRIGGER_OP_off   02

Referenced by cPTU_Base::TriggerOff().

#define TRIGGER_OP_on   01

Referenced by cPTU_Base::TriggerOn().

#define TRUE   1

Referenced by playback::Activate(), auxiliar_firei_server_3_shm_to_message(), auxiliar_hokuyo_shm_to_message(), auxiliar_ipm_shm_to_message(), bus_call(), button_press_event(), calculate_freespace_lanemarkers(), calculate_freespace_laserobstacles(), calculate_traj_distance_to_atractor_pts(), calculate_traj_distance_to_repulsor_pts(), check_command(), check_status(), cPTU_Base::closeserial(), clusters2objects(), compute_distance_traveled(), cPTU_Base::config_CHA(), cPTU_Base::config_CHA_38400(), configure_event(), cPTU_Control::cPTU_Control(), cross_computation(), cPTU_Base::default_async_event_handler(), DEVICE_send(), class_advancedfloodfill::do_floodfill(), draw(), draw_obstacles(), drawGPSpoint(), filtergroup_byavgwidth(), filtergroup_bynormalcount(), filtergroup_bynormalgradsigma(), filtergroup_bynormalsigma(), filtergroup_bywidthsigma(), filtergroups_bysize(), filtergroups_byvalleys(), findgroups_rightpix(), cPTU_Base::firmware_version_OK(), cPTU_Base::FlushInputBuffer(), cPTU_Base::get_binary_command_return_status(), cPTU_Base::get_current(), cPTU_Base::get_desired(), get_new_target_information(), get_ratios(), cPTU_Base::get_TTL_values(), getfinallines(), base_firei_control::GetFrame(), base_firei_control::GetFrame_dma(), getnormaltogroup(), cPTU_Base::GetSerialChar(), cPTU_Base::GetSignedLong(), cPTU_Base::GetSignedShort(), cPTU_Base::GetUnsignedShort(), gps_parse_gga(), gps_parse_rmc(), handler_gga_msg_received(), handler_msg_received(), handler_rmc_msg_received(), handler_xsensmsg_received(), heartbeat_handler(), high_level_obstacle_avoidance_and_speed_control(), idle(), playback::IndexHandler(), init_crc16_tab(), init_crc32_tab(), init_crcccitt_tab(), init_crcdnp_tab(), init_crckermit_tab(), logger::InstallParameters(), istrue(), laser_handler(), layoutWidgets(), main(), motion_notify_event(), open_xml(), base_firei_control::OpenHandle(), optional_signs_computation(), plugin_init(), ptucontrol_command_handler(), cPTU_Base::PutSignedLong(), cPTU_Base::PutSignedShort(), cPTU_Base::PutUnsignedShort(), cPTU_Base::ReadSerialLine(), receiver_handler(), relocate_atractor_pts(), reset_hyp(), cPTU_Base::reset_ptu(), cPTU_Base::reset_ptu_pan(), cPTU_Base::reset_PTU_parser(), cPTU_Base::reset_ptu_tilt(), reshape(), road_msg_received_handler(), save(), score_trajectories(), search_for_new_target(), cPTU_Base::select_unit(), send_dir_and_speed(), send_vs_command(), sensorfusion_heartbeat_handler(), cPTU_Base::SerialBytesIn(), cPTU_Base::SerialBytesOut(), cPTU_Base::SerialStringOut(), cPTU_Base::set_TTL_outputs(), cPTU_Base::set_unit_id(), logger::StartLog(), playback::StepBackward(), playback::StepForward(), cPTU_Base::talkto_CHA(), cPTU_Base::talkto_PTUcontroller(), cPTU_Base::TriggerOff(), cPTU_Base::TriggerOn(), where_we_are(), WindowDump(), writeData(), zoom_change(), zoom_in(), zoom_out(), and zoom_window().

#define TTL_CONTROLS   228

Referenced by cPTU_Base::get_TTL_values(), and cPTU_Base::set_TTL_outputs().

#define UNIT_ID_QUERY   179

#define UNIT_RESET   176

Referenced by cPTU_Base::reset_ptu().

#define UNIT_RESET_ON_POWERUP   177

#define UNIT_RESET_ON_POWERUP_DISABLED   178

#define UNIT_RESET_PAN   220

Referenced by cPTU_Base::reset_ptu_pan().

#define UNIT_RESET_TILT   221

Referenced by cPTU_Base::reset_ptu_tilt().

#define UPPER_SPEED_LIMIT   5

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), and cPTU_Base::set_desired().

#define VERBOSE   1

Referenced by cPTU_Base::set_mode().

#define VERBOSE_QUERY   190

Referenced by cPTU_Base::set_mode().

---

Typedef Documentation

typedef unsigned char(* event_handler_fn_ptr_type)(unsigned char)

typedef int portstream_fd

typedef short int PTU_PARM_PTR

typedef unsigned short int UID_fd

---

Function Documentation

short int cPTU_Control::CheckPanLimits	(	short int	Pos,
		unsigned char	checkflag
	)			[private, inherited]

Class methods used to check if pan, speed and acceleration values are within allowed values.

These functions only operate if flag checklimits is TRUE. Use SetCheckLimits(unsigned char val) to set this flag. By default the limits are checked. Checks for pan limits

Parameters:

	Pos	value to check
	checkflag	if the check operation should or not be executed.

Returns:

the checked value. Original Pos if it was not out of the limits

Referenced by cPTU_Control::PanTiltPosSpeed(), cPTU_Control::PanToAngle(), and cPTU_Control::PanToPosition().

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unsigned short int cPTU_Control::CheckPanSLimits	(	unsigned short int	Sp,
		unsigned char	checkflag
	)			[private, inherited]

Checks for pan speed limits.

Parameters:

	Sp	value to check
	checkflag	if the check operation should or not be executed.

Returns:

the checked value. Original Pos if it was not out of the limits

Referenced by cPTU_Control::PanTiltPosSpeed(), and cPTU_Control::SetPanSpeed().

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short int cPTU_Control::CheckTiltLimits	(	short int	Pos,
		unsigned char	checkflag
	)			[private, inherited]

Checks for tilt limits.

Parameters:

	Pos	value to check
	checkflag	if the check operation should or not be executed.

Returns:

the checked value. Original Pos if it was not out of the limits

Referenced by cPTU_Control::PanTiltPosSpeed(), and cPTU_Control::TiltToPosition().

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unsigned short int cPTU_Control::CheckTiltSLimits	(	unsigned short int	Sp,
		unsigned char	checkflag
	)			[private, inherited]

Checks for tilt speed limits.

Parameters:

	Sp	value to check
	checkflag	if the check operation should or not be executed.

Returns:

the checked value. Original Pos if it was not out of the limits

Referenced by cPTU_Control::PanTiltPosSpeed(), and cPTU_Control::SetTiltSpeed().

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char closeserial

(

portstream_fd

)

void do_delay

(

long

)

unsigned char execute_set_desired_velocities	(	signed short int *	,
		signed short int *
	)

char FlushInputBuffer

(

portstream_fd

)

char get_ISM_desired_abs_positions	(	signed short int *	Ppos,
		signed short int *	Tpos
	)

char GetSignedLong	(	portstream_fd	,
		signed long *	,
		long
	)

char GetSignedShort	(	portstream_fd	,
		signed short *	,
		long
	)

char GetUnsignedShort	(	portstream_fd	,
		unsigned short *	,
		long
	)

portstream_fd openserial

(

char *

portname

)

int cPTU_Control::PanOffsetToPosition

(

int

Offset

)

[inherited]

Pans unit to Offset from current position.

Parameters:

Offset

value to perform.

Returns:

Function result (0 is OK; -1 NOK)

int cPTU_Control::PanTiltAngleSpeed	(	double	PanAngle,
		double	TiltAngle,
		unsigned short int	PanSpeed,
		unsigned short int	TiltSpeed
	)			[inherited]

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.

Parameters:

	PanAngle	pan position in degrees
	TiltAngle	tilt position
	PanSpeed	pan speed
	TiltSpeed	tilt speed

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Control::PanTiltPosSpeed().

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int cPTU_Control::PanTiltAngleSpeedAngleperSec	(	double	PanAngle,
		double	TiltAngle,
		double	PanSpeed,
		double	TiltSpeed
	)			[inherited]

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.

Parameters:

	PanAngle	pan position in degrees
	TiltAngle	tilt position in degrees
	PanSpeed	pan speed in degrees/sec
	TiltSpeed	tilt speed in degrees/sec

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Control::PanTiltPosSpeed().

Referenced by ptucontrol_command_handler().

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int cPTU_Control::PanTiltPosSpeed	(	short int	PanPos,
		short int	TiltPos,
		unsigned short int	PanSpeed,
		unsigned short int	TiltSpeed
	)			[inherited]

Sends 4 motion orders to PTU. Pan ans Tilt position speed and halt flag. (updated).

Parameters:

	PanPos	pan position
	TiltPos	tilt position
	PanSpeed	pan speed
	TiltSpeed	tilt speed

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Control::CheckPanLimits(), cPTU_Control::CheckPanSLimits(), cPTU_Control::CheckTiltLimits(), cPTU_Control::CheckTiltSLimits(), cPTU_Base::reset_PTU_parser(), ret, and cPTU_Base::set_PTU_motion().

Referenced by cPTU_Control::PanTiltAngleSpeed(), and cPTU_Control::PanTiltAngleSpeedAngleperSec().

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int cPTU_Control::PanToAngle

(

double

Angle

)

[inherited]

Pans unit to angle Angle.

Parameters:

Angle

to move to.

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Control::CheckPanLimits(), and cPTU_Control::PanToPosition().

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int cPTU_Control::PanToPosition

(

short int

Pos

)

[inherited]

Pans unit to Pos position. (updated).

Parameters:

Pos

to move to.

Returns:

Function result (0 is OK; -1 NOK)

References ABSOLUTE, cPTU_Control::CheckPanLimits(), PAN, POSITION, and cPTU_Base::set_desired().

Referenced by cPTU_Control::PanToAngle().

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char PeekByte	(	portstream_fd	,
		unsigned char *
	)

char PutSignedLong	(	portstream_fd	,
		signed long *
	)

char PutSignedShort	(	portstream_fd	,
		signed short *
	)

char PutUnsignedShort	(	portstream_fd	,
		unsigned short *
	)

char ReadSerialLine	(	portstream_fd	,
		unsigned char *	,
		long	,
		int *
	)

char SerialBytesIn	(	portstream_fd	,
		unsigned char *	,
		unsigned	int,
		long
	)

char SerialBytesOut	(	portstream_fd	,
		unsigned char *	,
		int
	)

char SerialStringOut	(	portstream_fd	,
		unsigned char *
	)

char set_ISM_desired_abs_positions	(	signed short int *	Ppos,
		signed short int *	Tpos
	)

int cPTU_Control::SetPanSpeed

(

unsigned short int

Speed

)

[inherited]

Class methods used to set PTU motion parameters, position, speed and acceleration.

Sets pan speed (updated)

Parameters:

Speed

to set.

Returns:

Function result (0 is OK; -1 NOK)

References ABSOLUTE, cPTU_Control::CheckPanSLimits(), PAN, cPTU_Base::set_desired(), and SPEED.

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int cPTU_Control::SetPureVelocity	(	signed short int	ps,
		signed short int	ts
	)			[inherited]

Sets Pan and Tilt velocities. Pure velocity control must be enabled using SetPureVelocityControl(void).

Parameters:

	ps	Pan velocity
	ts	Tilt velocity

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Base::set_pure_velocities().

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int cPTU_Control::SetPureVelocity_DegperSec	(	double	ps,
		double	ts
	)			[inherited]

Sets Pan and Tilt velocities. Pure velocity control must be enabled using SetPureVelocityControl(void).

Parameters:

	ps	Pan velocity
	ts	Tilt velocity

Returns:

Function result (0 is OK; -1 NOK)

References _PANTILTRESOLUTION_, cPTU_Base::reset_PTU_parser(), ret, and cPTU_Base::set_pure_velocities().

Referenced by ptucontrol_command_handler().

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int cPTU_Control::SetTiltSpeed

(

unsigned short int

Speed

)

[inherited]

Sets tilt speed (updated).

Parameters:

Speed

to set.

Returns:

Function result (0 is OK; -1 NOK)

References ABSOLUTE, cPTU_Control::CheckTiltSLimits(), cPTU_Base::set_desired(), SPEED, and TILT.

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int cPTU_Control::TiltOffsetToPosition

(

int

Offset

)

[inherited]

Tilts unit to Offset from current position.

Parameters:

Offset

value to perform.

Returns:

Function result (0 is OK; -1 NOK)

int cPTU_Control::TiltToAngle

(

double

Angle

)

[inherited]

Tilts unit to angle Angle.

Parameters:

Angle

to move to.

Returns:

Function result (0 is OK; -1 NOK)

References cPTU_Control::TiltToPosition().

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int cPTU_Control::TiltToPosition

(

short int

Pos

)

[inherited]

Tilts unit to Pos position. (updated).

Parameters:

Pos

to move to.

Returns:

Function result (0 is OK; -1 NOK)

References ABSOLUTE, cPTU_Control::CheckTiltLimits(), POSITION, cPTU_Base::set_desired(), and TILT.

Referenced by cPTU_Control::TiltToAngle().

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---

Variable Documentation

char CHA_comm_active = FALSE [static]

Referenced by cPTU_Base::talkto_CHA(), and cPTU_Base::talkto_PTUcontroller().

portstream_fd current_host_port [static]

Referenced by cPTU_Base::close_host_port(), cPTU_Base::config_CHA(), cPTU_Base::config_CHA_38400(), cPTU_Base::execute_set_desired_velocities(), cPTU_Base::firmware_version(), cPTU_Base::firmware_version_OK(), cPTU_Base::get_current(), cPTU_Base::get_current_positions(), cPTU_Base::get_desired(), cPTU_Base::get_ISM_desired_abs_positions(), cPTU_Base::get_PTU_motion(), cPTU_Base::GetSerialChar(), cPTU_Base::open_host_port(), cPTU_Base::open_host_port_38400(), cPTU_Base::reset_PTU_parser(), cPTU_Base::select_host_port(), cPTU_Base::select_unit(), cPTU_Base::SerialIn(), cPTU_Base::SerialOut(), cPTU_Base::set_desired(), cPTU_Base::set_desired_abs_positions(), cPTU_Base::set_ISM_desired_abs_positions(), cPTU_Base::set_PTU_motion(), cPTU_Base::set_pure_velocities(), cPTU_Base::set_unit_id(), cPTU_Base::talkto_CHA(), cPTU_Base::talkto_PTUcontroller(), cPTU_Base::TriggerOn(), and cPTU_Base::TriggersPending().

char err

char speed_control_mode = PTU_INDEPENDENT_SPEED_CONTROL_MODE [static]

Referenced by cPTU_Base::get_current(), cPTU_Base::get_desired(), cPTU_Base::set_desired(), and cPTU_Base::set_mode().