text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          https://www.mrpt.org/                         |
     |                                                                        |
     | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
     | See: https://www.mrpt.org/Authors - All rights reserved.               |
     | Released under BSD License. See: https://www.mrpt.org/License          |
     +------------------------------------------------------------------------+ */
  
  #pragma once
  
  #include <mrpt/comms/CSerialPort.h>
  
  namespace mrpt::hwdrivers
  {
  /** This class implements initialization and communication methods to
   * control a generic Pan and Tilt Unit, working in radians.
   * \ingroup mrpt_hwdrivers_grp
   */
  class CPtuBase
  {
  	/*************************** Atributes **********************/
  
     public:
  	double tiltResolution, panResolution;
  
     protected:
  	mrpt::comms::CSerialPort serPort;
  
  	/**************************** Methods ***********************/
  
     public:
  	/** Destructor */
  
  	virtual ~CPtuBase() = default;
  
  	/** Search limit forward */
  
  	virtual bool rangeMeasure() = 0;
  
  	/** Specification of positions in absolute terms */
  
  	virtual bool moveToAbsPos(char axis, double nRad) = 0;
  
  	/** Query position in absolute terms */
  
  	virtual bool absPosQ(char axis, double& nRad) = 0;
  
  	/** Specify desired axis position as an offset from the current position. \n
  	 *	This method recives the number of radians to move.
  	 *	\code
  	 *	Example of use:
  	 *		TT-500 *
  	 *		A *
  	 *		TO * Current Tilt position is -500
  	 *		TO500 *
  	 *		A *
  	 *		TT * Current Pan position is 1000
  	 *	\endcode
  	 */
  
  	virtual bool moveToOffPos(char axis, double nRad) = 0;
  
  	/** Query position in relative terms */
  
  	virtual bool offPosQ(char axis, double& nRad) = 0;
  
  	/** Query max movement limit of a axis in absolute terms */
  
  	virtual bool maxPosQ(char axis, double& nRad) = 0;
  
  	/** Query min movement limit of a axis in absolute terms */
  
  	virtual bool minPosQ(char axis, double& nRad) = 0;
  
  	/** Query if exist movement limits */
  
  	virtual bool enableLimitsQ(bool& enable) = 0;  // Query if exist some limit
  
  	/** Enable/Disable movement limits */
  
  	virtual bool enableLimits(bool set) = 0;
  
  	/** With I mode (default) instructs pan-tilt unit to immediately
  	 *	execute positional commands. \n
  	 *	In S mode instructs pan-tilt unit to execute positional commands
  	 *	only when an Await Position Command Completion command is executed
  	 *	or when put into Immediate Execution Mode. \n
  	 *	\code
  	 *	Example of use of S mode:
  	 *		DR *
  	 *		S *
  	 *		PP1500 *
  	 *		TP-900 *
  	 *		PP * Current Pan position is 0
  	 *		TP * Current Tilt position is 0
  	 *		A *
  	 *		PP * Current Pan position is 1500
  	 *		TP * Current Tilt position is -900
  	 *	\endcode
  	 */
  
  	virtual bool inmediateExecution(bool set) = 0;
  
  	/** Wait the finish of the last position command to
  	 *	continue accept commands
  	 */
  
  	virtual bool aWait() = 0;
  
  	/** Inmediately stop all */
  
  	virtual bool haltAll() = 0;
  
  	/** Inmediately stop */
  
  	virtual bool halt(char axis) = 0;
  
  	/** Specification of turn speed */
  
  	virtual bool speed(char axis, double RadSec) = 0;
  
  	/** Query turn speed */
  
  	virtual bool speedQ(char axis, double& RadSec) = 0;
  
  	/** Specification (de/a)celeration in turn */
  
  	virtual bool aceleration(char axis, double RadSec2) = 0;
  
  	/** Query (de/a)celeration in turn */
  
  	virtual bool acelerationQ(char axis, double& RadSec2) = 0;
  
  	/** Specification of velocity to which start and finish
  	 *	the (de/a)celeration
  	 */
  
  	virtual bool baseSpeed(char axis, double RadSec) = 0;
  
  	/** Query velocity to which start and finish
  	 *	the (de/a)celeration
  	 */
  
  	virtual bool baseSpeedQ(char axis, double& RadSec) = 0;
  
  	/** Specification of velocity upper limit */
  
  	virtual bool upperSpeed(char axis, double RadSec) = 0;
  
  	/** Query velocity upper limit */
  
  	virtual bool upperSpeedQ(char axis, double& RadSec) = 0;
  
  	/** Specification of velocity lower limit */
  
  	virtual bool lowerSpeed(char axis, double RadSec) = 0;
  
  	/** Query velocity lower limit */
  
  	virtual bool lowerSpeedQ(char axis, double& RadSec) = 0;
  
  	/** Reset PTU to initial state */
  
  	virtual bool reset() = 0;
  
  	/** Save or restart default values */
  
  	virtual bool save() = 0;
  
  	/** Restore default values */
  
  	virtual bool restoreDefaults() = 0;
  
  	/** Restore factory default values */
  
  	virtual bool restoreFactoryDefaults() = 0;
  
  	/** Version and CopyRights */
  
  	virtual bool version(char* nVersion) = 0;
  
  	/** Number of version */
  
  	virtual void nversion(double& nVersion) = 0;
  
  	/** Query power mode */
  
  	virtual bool powerModeQ(bool transit, char& mode) = 0;
  
  	/** Specification of power mode */
  
  	virtual bool powerMode(bool transit, char mode) = 0;
  
  	/** Check if ptu is moving */
  
  	virtual double status(double& rad) = 0;
  
  	/** Set limits of movement */
  
  	virtual bool setLimits(char axis, double& l, double& u) = 0;
  
  	/* Change motion direction */
  
  	virtual bool changeMotionDir() = 0;
  
  	/**************************** State Queries ********************/
  
  	/** Check errors, returns 0 if there are not errors or error code otherwise
  	 * **/
  
  	virtual int checkErrors() = 0;
  
  	/** Clear errors **/
  
  	virtual void clearErrors() = 0;
  
  	/*************************** Other member methods *****************/
  
  	/** PTU and serial port initialization */
  
  	virtual bool init(const std::string& port) = 0;
  
  	/** Close Connection with serial port */
  
  	virtual void close() = 0;
  
  	/** To obtains the mistake for use discrete values when the movement
  	 *	is expressed in radians. Parameters are the absolute position in
  	 *	radians and the axis desired
  	 */
  
  	virtual double radError(char axis, double nRadMoved) = 0;
  
  	/**  To obtain the discrete value for a number of radians */
  
  	virtual long radToPos(char axis, double nRad) = 0;
  
  	/** To obtain the number of radians for a discrete value */
  
  	virtual double posToRad(char axis, long nPos) = 0;
  
  	/** Performs a scan in the axis indicated and whit the precision desired.
  	 *		\param <axis> {Pan or Till}
  	 *		\param <tWait> {Wait time betwen commands}
  	 *		\param <initial> {initial position}
  	 *		\param <final> {final position}
  	 *		\param <RadPre> {radians precision for the scan}
  	 */
  
  	virtual bool scan(
  		char axis, int wait, float initial, float final, double RadPre) = 0;
  
  	/** Query verbose mode */
  
  	virtual bool verboseQ(bool& modo) = 0;
  
  	/** Set verbose. \n
  	 *	\conde
  	 *	Example of response with FV (verbose) active:
  	 *		FV *
  	 *		PP * Current pan position is 0
  	 *		Example of response with FT (terse) active:
  	 *		FT *
  	 *		PP * 0
  	 *	\endcode
  	 */
  
  	virtual bool verbose(bool set) = 0;
  
  	/** Query echo mode */
  
  	virtual bool echoModeQ(bool& mode) = 0;
  
  	/** Enable/Disable echo response with command. \n
  	 *	\code
  	 *	Example of use (EE supposed):
  	 *		PP * 22
  	 *		ED *
  	 *		<pp entered again, but not echoed>* 22
  	 *	\endcode
  	 */
  
  	virtual bool echoMode(bool mode) = 0;
  
  	/** Query the pan and tilt resolution per position moved
  	 *	and initialize local atributes
  	 */
  
  	virtual bool resolution() = 0;
  
  	/*************************** Methods for internal use ****************/
  
     private:
  	/** To transmition commands to the PTU */
  
  	virtual bool transmit(const char* command) = 0;
  
  	/** To receive the responseof the PTU */
  
  	virtual bool receive(const char* command, char* response) = 0;
  
  	/** Used to obtains a number of radians */
  
  	virtual bool radQuerry(char axis, char command, double& nRad) = 0;
  
  	/** Method used for asign a number of radians with a command */
  
  	virtual bool radAsign(char axis, char command, double nRad) = 0;
  
  };  // End of class
  
  }  // namespace mrpt::hwdrivers
  