00001
00002 /***************************************************************************
00003  *  PanTiltInterface.h - Fawkes BlackBoard Interface - PanTiltInterface
00004  *
00005  *  Templated created:   Thu Oct 12 10:49:19 2006
00006  *  Copyright  2009  Tim Niemueller
00007  *
00008  ****************************************************************************/
00009
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023
00024 #ifndef __INTERFACES_PANTILTINTERFACE_H_
00025 #define __INTERFACES_PANTILTINTERFACE_H_
00026 
00027 #include <interface/interface.h>
00028 #include <interface/message.h>
00029 #include <interface/field_iterator.h>
00030
00031 namespace fawkes {
00032
00033 class PanTiltInterface : public Interface
00034 {
00035  /// @cond INTERNALS
00036  INTERFACE_MGMT_FRIENDS(PanTiltInterface)
00037  /// @endcond
00038  public:
00039   /* constants */
00040   static const unsigned int FLAG_SUPPORTS_PAN;
00041   static const unsigned int FLAG_SUPPORTS_TILT;
00042   static const unsigned int ERROR_NONE;
00043   static const unsigned int ERROR_UNSPECIFIC;
00044   static const unsigned int ERROR_COMMUNICATION;
00045   static const unsigned int ERROR_PAN_OUTOFRANGE;
00046   static const unsigned int ERROR_TILT_OUTOFRANGE;
00047
00048  private:
00049   /** Internal data storage, do NOT modify! */
00050   typedef struct {
00051     unsigned int flags; /**< Flags. */
00052     unsigned int msgid; /**< The ID of the message that is currently being
00053       processed, or 0 if no message is being processed. */
00054     unsigned int error_code; /**< Failure code set if
00055     final is true. 0 if no error occured, an error code from ERROR_*
00056     constants otherwise (or a bit-wise combination). */
00057     float pan; /**< Current pan. */
00058     float tilt; /**< Current tilt. */
00059     float min_pan; /**< Minimum pan possible. */
00060     float max_pan; /**< Maximum pan possible. */
00061     float min_tilt; /**< Minimum tilt possible. */
00062     float max_tilt; /**< Maximum tilt possible. */
00063     float max_pan_velocity; /**< Maximum supported pan velocity. */
00064     float max_tilt_velocity; /**< Maximum supported tilt velocity. */
00065     float pan_velocity; /**< Maximum pan velocity currently reached. */
00066     float tilt_velocity; /**< Maximum tilt velocity currently reached. */
00067     float pan_margin; /**< Margin in radians around a
00068     target pan value to consider the motion as final. */
00069     float tilt_margin; /**< Margin in radians around a
00070     target tilt value to consider the motion as final. */
00071     bool final; /**< True, if the last goto command has been finished,
00072       false if it is still running */
00073     bool enabled; /**< Is the pan/tilt unit enabled? */
00074     bool calibrated; /**< Is the pan/tilt unit calibrated? */
00075   } PanTiltInterface_data_t;
00076
00077   PanTiltInterface_data_t *data;
00078
00079  public:
00080   /* messages */
00081   class StopMessage : public Message
00082   {
00083    public:
00084     StopMessage();
00085     ~StopMessage();
00086
00087     StopMessage(const StopMessage *m);
00088     /* Methods */
00089     virtual Message * clone() const;
00090   };
00091
00092   class FlushMessage : public Message
00093   {
00094    public:
00095     FlushMessage();
00096     ~FlushMessage();
00097
00098     FlushMessage(const FlushMessage *m);
00099     /* Methods */
00100     virtual Message * clone() const;
00101   };
00102
00103   class CalibrateMessage : public Message
00104   {
00105    public:
00106     CalibrateMessage();
00107     ~CalibrateMessage();
00108
00109     CalibrateMessage(const CalibrateMessage *m);
00110     /* Methods */
00111     virtual Message * clone() const;
00112   };
00113
00114   class ParkMessage : public Message
00115   {
00116    public:
00117     ParkMessage();
00118     ~ParkMessage();
00119
00120     ParkMessage(const ParkMessage *m);
00121     /* Methods */
00122     virtual Message * clone() const;
00123   };
00124
00125   class GotoMessage : public Message
00126   {
00127    private:
00128     /** Internal data storage, do NOT modify! */
00129     typedef struct {
00130       float pan; /**< Current pan. */
00131       float tilt; /**< Current tilt. */
00132     } GotoMessage_data_t;
00133
00134     GotoMessage_data_t *data;
00135
00136    public:
00137     GotoMessage(const float ini_pan, const float ini_tilt);
00138     GotoMessage();
00139     ~GotoMessage();
00140
00141     GotoMessage(const GotoMessage *m);
00142     /* Methods */
00143     float pan() const;
00144     void set_pan(const float new_pan);
00145     size_t maxlenof_pan() const;
00146     float tilt() const;
00147     void set_tilt(const float new_tilt);
00148     size_t maxlenof_tilt() const;
00149     virtual Message * clone() const;
00150   };
00151
00152   class TimedGotoMessage : public Message
00153   {
00154    private:
00155     /** Internal data storage, do NOT modify! */
00156     typedef struct {
00157       float time_sec; /**< Time in seconds when to reach
00158     the final position. */
00159       float pan; /**< Current pan. */
00160       float tilt; /**< Current tilt. */
00161     } TimedGotoMessage_data_t;
00162
00163     TimedGotoMessage_data_t *data;
00164
00165    public:
00166     TimedGotoMessage(const float ini_time_sec, const float ini_pan, const float ini_tilt);
00167     TimedGotoMessage();
00168     ~TimedGotoMessage();
00169
00170     TimedGotoMessage(const TimedGotoMessage *m);
00171     /* Methods */
00172     float time_sec() const;
00173     void set_time_sec(const float new_time_sec);
00174     size_t maxlenof_time_sec() const;
00175     float pan() const;
00176     void set_pan(const float new_pan);
00177     size_t maxlenof_pan() const;
00178     float tilt() const;
00179     void set_tilt(const float new_tilt);
00180     size_t maxlenof_tilt() const;
00181     virtual Message * clone() const;
00182   };
00183
00184   class SetEnabledMessage : public Message
00185   {
00186    private:
00187     /** Internal data storage, do NOT modify! */
00188     typedef struct {
00189       bool enabled; /**< Is the pan/tilt unit enabled? */
00190     } SetEnabledMessage_data_t;
00191
00192     SetEnabledMessage_data_t *data;
00193
00194    public:
00195     SetEnabledMessage(const bool ini_enabled);
00196     SetEnabledMessage();
00197     ~SetEnabledMessage();
00198
00199     SetEnabledMessage(const SetEnabledMessage *m);
00200     /* Methods */
00201     bool is_enabled() const;
00202     void set_enabled(const bool new_enabled);
00203     size_t maxlenof_enabled() const;
00204     virtual Message * clone() const;
00205   };
00206
00207   class SetVelocityMessage : public Message
00208   {
00209    private:
00210     /** Internal data storage, do NOT modify! */
00211     typedef struct {
00212       float pan_velocity; /**< Maximum pan velocity currently reached. */
00213       float tilt_velocity; /**< Maximum tilt velocity currently reached. */
00214     } SetVelocityMessage_data_t;
00215
00216     SetVelocityMessage_data_t *data;
00217
00218    public:
00219     SetVelocityMessage(const float ini_pan_velocity, const float ini_tilt_velocity);
00220     SetVelocityMessage();
00221     ~SetVelocityMessage();
00222
00223     SetVelocityMessage(const SetVelocityMessage *m);
00224     /* Methods */
00225     float pan_velocity() const;
00226     void set_pan_velocity(const float new_pan_velocity);
00227     size_t maxlenof_pan_velocity() const;
00228     float tilt_velocity() const;
00229     void set_tilt_velocity(const float new_tilt_velocity);
00230     size_t maxlenof_tilt_velocity() const;
00231     virtual Message * clone() const;
00232   };
00233
00234   class SetMarginMessage : public Message
00235   {
00236    private:
00237     /** Internal data storage, do NOT modify! */
00238     typedef struct {
00239       float pan_margin; /**< Margin in radians around a
00240     target pan value to consider the motion as final. */
00241       float tilt_margin; /**< Margin in radians around a
00242     target tilt value to consider the motion as final. */
00243     } SetMarginMessage_data_t;
00244
00245     SetMarginMessage_data_t *data;
00246
00247    public:
00248     SetMarginMessage(const float ini_pan_margin, const float ini_tilt_margin);
00249     SetMarginMessage();
00250     ~SetMarginMessage();
00251
00252     SetMarginMessage(const SetMarginMessage *m);
00253     /* Methods */
00254     float pan_margin() const;
00255     void set_pan_margin(const float new_pan_margin);
00256     size_t maxlenof_pan_margin() const;
00257     float tilt_margin() const;
00258     void set_tilt_margin(const float new_tilt_margin);
00259     size_t maxlenof_tilt_margin() const;
00260     virtual Message * clone() const;
00261   };
00262
00263   virtual bool message_valid(const Message *message) const;
00264  private:
00265   PanTiltInterface();
00266   ~PanTiltInterface();
00267
00268  public:
00269   /* Methods */
00270   unsigned int flags() const;
00271   void set_flags(const unsigned int new_flags);
00272   size_t maxlenof_flags() const;
00273   float pan() const;
00274   void set_pan(const float new_pan);
00275   size_t maxlenof_pan() const;
00276   float tilt() const;
00277   void set_tilt(const float new_tilt);
00278   size_t maxlenof_tilt() const;
00279   unsigned int msgid() const;
00280   void set_msgid(const unsigned int new_msgid);
00281   size_t maxlenof_msgid() const;
00282   bool is_final() const;
00283   void set_final(const bool new_final);
00284   size_t maxlenof_final() const;
00285   unsigned int error_code() const;
00286   void set_error_code(const unsigned int new_error_code);
00287   size_t maxlenof_error_code() const;
00288   bool is_enabled() const;
00289   void set_enabled(const bool new_enabled);
00290   size_t maxlenof_enabled() const;
00291   bool is_calibrated() const;
00292   void set_calibrated(const bool new_calibrated);
00293   size_t maxlenof_calibrated() const;
00294   float min_pan() const;
00295   void set_min_pan(const float new_min_pan);
00296   size_t maxlenof_min_pan() const;
00297   float max_pan() const;
00298   void set_max_pan(const float new_max_pan);
00299   size_t maxlenof_max_pan() const;
00300   float min_tilt() const;
00301   void set_min_tilt(const float new_min_tilt);
00302   size_t maxlenof_min_tilt() const;
00303   float max_tilt() const;
00304   void set_max_tilt(const float new_max_tilt);
00305   size_t maxlenof_max_tilt() const;
00306   float max_pan_velocity() const;
00307   void set_max_pan_velocity(const float new_max_pan_velocity);
00308   size_t maxlenof_max_pan_velocity() const;
00309   float max_tilt_velocity() const;
00310   void set_max_tilt_velocity(const float new_max_tilt_velocity);
00311   size_t maxlenof_max_tilt_velocity() const;
00312   float pan_velocity() const;
00313   void set_pan_velocity(const float new_pan_velocity);
00314   size_t maxlenof_pan_velocity() const;
00315   float tilt_velocity() const;
00316   void set_tilt_velocity(const float new_tilt_velocity);
00317   size_t maxlenof_tilt_velocity() const;
00318   float pan_margin() const;
00319   void set_pan_margin(const float new_pan_margin);
00320   size_t maxlenof_pan_margin() const;
00321   float tilt_margin() const;
00322   void set_tilt_margin(const float new_tilt_margin);
00323   size_t maxlenof_tilt_margin() const;
00324   virtual Message * create_message(const char *type) const;
00325
00326   virtual void copy_values(const Interface *other);
00327
00328 };
00329
00330 } // end namespace fawkes
00331
00332 #endif