vpServolens.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 <visp3/core/vpConfig.h>

#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/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() const;

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

  void enablePrompt(bool active) const;

 private:

  void init() const;

  void enableCmdComplete(vpServoType servo, bool active) const;

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

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

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

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

#endif
#endif