vpServolens.h

/****************************************************************************
 *
 * $Id: vpServolens.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Interface for the Servolens lens attached to the camera fixed on the 
 * Afma4 robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef __vpServolens_h
#define __vpServolens_h

#include <visp/vpConfig.h>

#if defined(UNIX)

#include <visp/vpCameraParameters.h>
#include <visp/vpImage.h>

class VISP_EXPORT vpServolens
{
 public:
  typedef enum {
    ZOOM = 1,
    FOCUS= 2,
    IRIS = 3
  } vpServoType;
  typedef enum {
    ZOOM_MAX  = 10000,  // Valeur maxi zoom (mm/100)
    ZOOM_MIN  = 1000,   // Valeur mini zoom (mm/100)
    FOCUS_MAX = 1500,   // Valeur maxi focus (metres/100)
    FOCUS_MIN = 100,    // Valeur mini focus (metres/100)
    IRIS_MAX  = 1000,   // Valeur maxi diaph (ouverture/100)
    IRIS_MIN  = 160 // Valeur mini disph (ouverture/100)
  } vpLimitsType;
  typedef enum {
    AUTO       = 1,
    CONTROLLED = 2,
    RELEASED   = 3    
  } vpControllerType;

  vpServolens();
  vpServolens(const char *port);
  ~vpServolens();

  void open(const char *port="/dev/ttyS0");
  void close();
  void reset();

  void setController(vpControllerType controller);
  void setAutoIris(bool enable);
  void setPosition(vpServoType servo, unsigned int position);
  bool getPosition(vpServoType servo, unsigned int &position);
  vpCameraParameters getCameraParameters(vpImage<unsigned char> &I);

  void enablePrompt(bool active);

 private:

  void init();

  void enableCmdComplete(vpServoType servo, bool active);

  char wait();
  void wait(vpServoType servo);

  bool read(char *c, long timeout_s);
  void write(const char *s);

  bool clean(const char *in, char *out);

  int remfd; // file pointer of the host's tty
  bool isinit;
};

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */
#endif
#endif