ArDPPTU Class Reference

Driver for the DPPTU. More...

#include <ArDPPTU.h>

Inherits ArPTZ.

Public Types
enum	Axis { PAN = 'P', TILT = 'T' }
enum	DeviceType { PANTILT_DEFAULT, PANTILT_PTUD47, PANTILT_PTUD46 }

Public Member Functions
	ArDPPTU (ArRobot *robot, DeviceType deviceType=PANTILT_DEFAULT, int deviceIndex=-1)
	Constructor. More...
bool	awaitExec (void)
	Instructs unit to await completion of the last issued command.
bool	basePanSlew (double deg)
	Sets the start-up pan slew.
bool	baseTiltSlew (double deg)
	Sets the start-up tilt slew.
bool	blank (void)
	Sends a delimiter only. More...
virtual bool	canGetRealPanTilt () const
bool	canPanTiltSlew ()
virtual bool	canZoom (void) const
double	getMaxPanAccel (void)
double	getMaxPanSlew (void)
double	getMaxTiltAccel (void)
double	getMaxTiltSlew (void)
double	getMinPanAccel (void)
double	getMinPanSlew (void)
double	getMinTiltAccel (void)
double	getMinTiltSlew (void)
virtual const char *	getTypeName ()
bool	haltAll (void)
	Halts all pan-tilt movement.
bool	haltPan (void)
	Halts pan axis movement.
bool	haltTilt (void)
	Halts tilt axis movement.
bool	indepMove (void)
	Sets motion to indenpendent control mode.
bool	init (void)
bool	initMon (double deg1, double deg2, double deg3, double deg4)
	Sets monitor mode - pan pos1/pos2, tilt pos1/pos2.
bool	limitEnforce (bool val)
	Enables or disables the position limit enforcement.
bool	lowerPanSlew (double deg)
	Sets the lower pan slew.
bool	lowerTiltSlew (double deg)
	Sets the lower pan slew.
bool	panAccel (double deg)
	Sets acceleration for pan axis.
bool	panSlew (double deg)
	Sets the rate that the unit pans at.
bool	panSlewRel (double deg)
	Sets the rate that the unit pans at, relative to current slew.
bool	resetCalib (void)
	Perform reset calibration (PTU will move to the limits of pan and tilt axes in turn and return to 0,0)
bool	tiltAccel (double deg)
	Sets acceleration for tilt axis.
bool	tiltSlew (double deg)
	Sets the rate the unit tilts at.
bool	tiltSlewRel (double deg)
	Sets the rate the unit tilts at, relative to current slew.
bool	upperPanSlew (double deg)
	Sets the upper pan slew.
bool	upperTiltSlew (double deg)
	Sets the upper tilt slew.
bool	velMove (void)
	Sets motion to pure velocity control mode.
virtual	~ArDPPTU ()
	Destructor.
bool	disableReset (void)
	Change stored configuration options. More...
bool	resetTilt (void)
	Configure DPPTU to only reset tilt on future power-up.
bool	resetPan (void)
	Configure DPPTU to only reset pan on future power up.
bool	resetAll (void)
	Configure DPPTU to reset both pan and tilt on future power on.
bool	enMon (void)
	Enables monitor mode at power up.
bool	disMon (void)
	Disables monitor mode at power up.
bool	saveSet (void)
	Save current settings as defaults.
bool	restoreSet (void)
	Restore stored defaults.
bool	factorySet (void)
	Restore factory defaults.
bool	immedExec (void)
	Set execution modes. More...
bool	slaveExec (void)
	Sets unit to slaved-execution mode for positional commands. Commands will not be executed by PTU until awaitExec() is used.
Public Member Functions inherited from ArPTZ
	ArPTZ (ArRobot *robot)
virtual bool	canGetFOV (void)
	Whether we can get the FOV (field of view) or not.
virtual bool	canGetRealZoom (void) const
	Whether getZoom() returns the device's real zoom amount, or last commanded zoom position.
virtual bool	canSetFocus (void) const
	If the driver can set the focus on the camera, or not.
virtual bool	canSetGain (void) const
	If the driver can set gain on the camera, or not.
virtual void	connectHandler (void)
	Internal, attached to robot, inits the camera when robot connects.
virtual int	getAuxPort (void)
	Gets the port the device is set to communicate on.
virtual ArDeviceConnection *	getDeviceConnection (void)
	Gets the device connection used by this PTZ camera.
virtual double	getFocus (double focus) const
	Get the focus the camera is set to. 0 if not supported.
virtual double	getFOVAtMaxZoom (void)
	Gets the field of view at maximum zoom.
virtual double	getFOVAtMinZoom (void)
	Gets the field of view at minimum zoom.
virtual double	getGain (double gain) const
	Get the gain the camera is set to. 0 if not supported.
bool	getInverted ()
	Get whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.
virtual double	getMaxNegPan (void) const
	Gets the lowest negative degree the camera can pan to (inverted if camera is inverted)
virtual double	getMaxNegTilt (void) const
	Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted)
double	getMaxPan () const
	Gets the highest positive degree the camera can pan to (inverted if camera is inverted) More...
virtual double	getMaxPosPan (void) const
	Gets the highest positive degree the camera can pan to (inverted if camera is inverted)
virtual double	getMaxPosTilt (void) const
	Gets the highest positive degree the camera can tilt to (inverted if camera is inverted)
double	getMaxTilt () const
	Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) More...
virtual int	getMaxZoom (void) const
	Gets the maximum value for the zoom on this camera.
double	getMinPan () const
	Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) More...
double	getMinTilt () const
	Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) More...
virtual int	getMinZoom (void) const
	Gets the lowest value for the zoom on this camera.
virtual double	getPan (void) const
	The angle the camera is panned to (or last commanded value sent, if unable to obtain real pan position) More...
ArRobot *	getRobot ()
	Return ArRobot object this PTZ is associated with. May be NULL.
virtual double	getTilt (void) const
	The angle the camera is tilted to (or last commanded value sent, if unable to obtain real pan position) More...
virtual int	getZoom (void) const
	The amount the camera is zoomed to (or last commanded value sent, if unable to obtain real pan position) More...
virtual bool	haltPanTilt ()
	Halt any pan/tilt movement, if device supports it.
virtual bool	haltZoom ()
	Halt any zoom movement, if device supports that.
virtual bool	packetHandler (ArBasePacket *packet)
	Handles a packet that was read from the device. More...
virtual bool	pan (double degrees)
	Pans to the given degrees. 0 is straight ahead, - is to the left, + to the right.
virtual bool	panRel (double degrees)
	Pans relative to current position by given degrees.
virtual bool	panTilt (double degreesPan, double degreesTilt)
	Pans and tilts to the given degrees.
virtual bool	panTiltRel (double degreesPan, double degreesTilt)
	Pans and tilts relatives to the current position by the given degrees.
virtual void	reset (void)
	Resets the camera. More...
virtual bool	robotPacketHandler (ArRobotPacket *packet)
	Handles a packet that was read by the robot. More...
virtual bool	sendPacket (ArBasePacket *packet)
	Sends a given packet to the camera (via robot or serial port, depending) More...
virtual void	sensorInterpHandler (void)
	Internal, for attaching to the robots sensor interp to read serial port.
virtual bool	setAuxPort (int auxPort)
	Sets the aux port on the robot to be used to communicate with this device. More...
virtual bool	setDeviceConnection (ArDeviceConnection *connection, bool driveFromRobotLoop=true)
	Sets the device connection to be used by this PTZ camera, if set this camera will send commands via this connection, otherwise its via robot aux. More...
virtual bool	setFocus (double focus) const
	Set focus on camera, range of 1-100. More...
virtual bool	setGain (double gain) const
	Set gain on camera, range of 1-100. More...
void	setInverted (bool inv)
	Set whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.
virtual bool	tilt (double degrees)
	Tilts to the given degrees. 0 is middle, - is downward, + is upwards.
virtual bool	tiltRel (double degrees)
	Tilts relative to the current position by given degrees.
virtual bool	zoom (int zoomValue)
	Zooms to the given value.
virtual bool	zoomRel (int zoomValue)
	Zooms relative to the current value, by the given value.
virtual	~ArPTZ ()
	Destructor.

Static Public Member Functions
static void	registerPTZType ()
	called automatically by Aria::init() More...

Protected Member Functions
virtual bool	panTilt_i (double pdeg, double tdeg)
	Move the pan and tilt axes.
virtual bool	pan_i (double deg)
virtual bool	panRel_i (double deg)
virtual bool	tilt_i (double deg)
virtual bool	tiltRel_i (double deg)
virtual bool	panTiltRel_i (double pdeg, double tdeg)
virtual double	getPan_i (void) const
	Get current pan/tilt position, if receiving from device, otherwise return last position request sent to the device. More...
virtual double	getTilt_i (void) const
Protected Member Functions inherited from ArPTZ
void	setLimits (double maxPosPan, double maxNegPan, double maxPosTilt, double maxNegTilt, int maxZoom=0, int minZoom=0)
	Subclasses call this to set extents (limits) returned by getMaxPosPan(), getMaxNegPan(), getMaxPosTilt(), getMaxNegTilt(), getMaxZoom(), and getMinZoom(). More...
virtual double	getMaxPosPan_i (void) const
	Versions of the pan and tilt limit accessors where inversion is not applied, for use by subclasses to check when given pan/tilt commands. More...
double	getMaxPan_i () const
virtual double	getMaxPosTilt_i (void) const
double	getMinPan_i () const
virtual double	getMaxNegPan_i (void) const
double	getMaxTilt_i () const
virtual double	getMaxNegTilt_i (void) const
double	getMinTilt_i () const
enum	PowerMode { OFF = 'O', LOW = 'L', NORMAL = 'R', HIGH = 'H' }
	Enable/disable moving and holding power modes for pan and tilt.
bool	setMovePower (Axis axis, PowerMode mode)
	Configure power mode for an axis when in motion. More...
bool	setHoldPower (Axis axis, PowerMode mode)
	Configure power mode for an axis when stationary. More...
bool	offStatPower (void)
bool	regStatPower (void)
bool	lowStatPower (void)
bool	highMotPower (void)
bool	regMotPower (void)
bool	lowMotPower (void)
ArRobot *	myRobot
ArDPPTUPacket	myPacket
double	myPanSent
	Last pan command sent.
double	myTiltSent
	Last tilt command sent.
double	myPanSlew
double	myTiltSlew
double	myBasePanSlew
double	myBaseTiltSlew
double	myPanAccel
double	myTiltAccel
DeviceType	myDeviceType
int	myMaxPanSlew
int	myMinPanSlew
int	myMaxTiltSlew
int	myMinTiltSlew
int	myMaxPanAccel
int	myMinPanAccel
int	myMaxTiltAccel
int	myMinTiltAccel
float	myPanConvert
float	myTiltConvert
float	myPan
float	myPanRecd
	Last pan value received from DPPTU from PP command.
float	myTilt
float	myTiltRecd
	Last tilt value received from DPPTU from TP command.
bool	myCanGetRealPanTilt
bool	myInit
ArFunctorC< ArDPPTU >	myQueryCB
char *	myDataBuf
ArFunctorC< ArDPPTU >	myShutdownCB
int	myDeviceIndex
ArTime	myLastPositionMessageHandled
bool	myWarnedOldPositionData
ArTime	myLastQuerySent
std::vector< char >	myPowerPorts
bool	myGotPanRes
bool	myGotTiltRes
static ArPTZConnector::GlobalPTZCreateFunc	ourCreateFunc
double	getLastPanRequest () const
	Get last pan/tilt requested. The device may still be moving towards these positions. (. More...
double	getLastTiltRequest () const
double	getPanSlew (void)
	Gets the current pan slew.
double	getTiltSlew (void)
	Gets the current tilt slew.
double	getBasePanSlew (void)
	Gets the base pan slew.
double	getBaseTiltSlew (void)
	Gets the base tilt slew.
double	getPanAccel (void)
	Gets the current pan acceleration rate.
double	getTiltAccel (void)
	Gets the current tilt acceleration rate.
void	query ()
void	preparePacket (void)
	adds on extra delim in front to work on H8
virtual ArBasePacket *	readPacket ()
void	shutdown ()
static ArPTZ *	create (size_t index, ArPTZParams params, ArArgumentParser *parser, ArRobot *robot)

Additional Inherited Members
Protected Attributes inherited from ArPTZ
int	myAuxPort
ArCommands::Commands	myAuxRxCmd
ArCommands::Commands	myAuxTxCmd
ArDeviceConnection *	myConn
ArFunctorC< ArPTZ >	myConnectCB
bool	myInverted
double	myMaxNegPan
double	myMaxNegTilt
double	myMaxPosPan
double	myMaxPosTilt
int	myMaxZoom
int	myMinZoom
ArRobot *	myRobot
ArRetFunctor1C< bool, ArPTZ, ArRobotPacket * >	myRobotPacketHandlerCB
ArFunctorC< ArPTZ >	mySensorInterpCB

Detailed Description

Driver for the DPPTU.

Examples:

dpptuExample.cpp.

Member Enumeration Documentation

DeviceType

enum ArDPPTU::DeviceType

Enumerator
PANTILT_DEFAULT	Automatically detect correct settings.
PANTILT_PTUD47	Force settings for PTU-D47. Since 2.7.0
PANTILT_PTUD46	Force settings for PTU-D46. Since 2.7.5

Constructor & Destructor Documentation

ArDPPTU()

ArDPPTU::ArDPPTU	(	ArRobot *	robot,
		DeviceType	deviceType = PANTILT_DEFAULT,
		int	deviceIndex = -1
	)

Constructor.

deviceType If a type other than PANTILT_DEFAULT is given, then manually selects different parameters for different DPPTU models.

It is recommended to use PANTILT_DEFAULT (unless your PTU is not responding to resolution queries for some reason)

deviceIndex if you have more than one PTU on a Seekur robot, this specifies one device to power on at startup and power off on exit. If -1 (default value), then all possible PTU power ports are powered on.

Member Function Documentation

blank()

bool ArDPPTU::blank

(

void

)

Sends a delimiter only.

A blank packet can be sent to exit monitor mode.

create()

ArPTZ * ArDPPTU::create ( size_t  index, ArPTZParams  params, ArArgumentParser *  parser, ArRobot *  robot  )

staticprotected

Since

2.7.6

disableReset()

bool ArDPPTU::disableReset

(

void

)

Change stored configuration options.

Configure DPPTU to disable future power-on resets

getLastPanRequest()

double ArDPPTU::getLastPanRequest ( ) const

inline

Get last pan/tilt requested. The device may still be moving towards these positions. (.

See also

getPan(), getTilt(), canGetRealPanTilt())

getPan_i()

virtual double ArDPPTU::getPan_i ( void  ) const

inlineprotectedvirtual

Get current pan/tilt position, if receiving from device, otherwise return last position request sent to the device.

See also

canGetRealPanTilt()

Implements ArPTZ.

highMotPower()

bool ArDPPTU::highMotPower ( void  )

inline

Deprecated:

immedExec()

bool ArDPPTU::immedExec

(

void

)

Set execution modes.

Sets unit to immediate-execution mode for positional commands. Commands will be executed by PTU as soon as they are received.

init()

bool ArDPPTU::init ( void  )

virtual

Implements ArPTZ.

lowMotPower()

bool ArDPPTU::lowMotPower ( void  )

inline

Deprecated:

lowStatPower()

bool ArDPPTU::lowStatPower ( void  )

inline

Deprecated:

offStatPower()

bool ArDPPTU::offStatPower ( void  )

inline

Deprecated:

registerPTZType()

void ArDPPTU::registerPTZType ( )

static

called automatically by Aria::init()

Since

2.7.6

regMotPower()

bool ArDPPTU::regMotPower ( void  )

inline

Deprecated:

regStatPower()

bool ArDPPTU::regStatPower ( void  )

inline

Deprecated:

setHoldPower()

bool ArDPPTU::setHoldPower	(	Axis	axis,
		PowerMode	mode
	)

Configure power mode for an axis when stationary.

init() sets the initial halted power to Off. Call this method to choose a different mode. The recommended modes are Off or Low.

setMovePower()

bool ArDPPTU::setMovePower	(	Axis	axis,
		PowerMode	mode
	)

Configure power mode for an axis when in motion.

init() sets initial moving power mode to Low, call this method to choose a different mode. The recomended modes are either Low or Normal.

Member Data Documentation

ourCreateFunc

ArPTZConnector::GlobalPTZCreateFunc ArDPPTU::ourCreateFunc

staticprotected

Since

2.7.6

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

• ArDPPTU.h
• ArDPPTU.cpp