Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpServolens.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Servolens lens attached to the camera fixed on the
33  * Afma4 robot.
34  *
35 *****************************************************************************/
36 
37 #ifndef _vpServolens_h_
38 #define _vpServolens_h_
39 
40 #include <visp3/core/vpConfig.h>
41 
42 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
43 
53 #include <visp3/core/vpCameraParameters.h>
54 #include <visp3/core/vpImage.h>
55 
89 class VISP_EXPORT vpServolens
90 {
91 public:
92  typedef enum { ZOOM = 1, FOCUS = 2, IRIS = 3 } vpServoType;
93  typedef enum {
94  ZOOM_MAX = 10000, // Valeur maxi zoom (mm/100)
95  ZOOM_MIN = 1000, // Valeur mini zoom (mm/100)
96  FOCUS_MAX = 1500, // Valeur maxi focus (metres/100)
97  FOCUS_MIN = 100, // Valeur mini focus (metres/100)
98  IRIS_MAX = 1000, // Valeur maxi diaph (ouverture/100)
99  IRIS_MIN = 160 // Valeur mini disph (ouverture/100)
100  } vpLimitsType;
101  typedef enum { AUTO = 1, CONTROLLED = 2, RELEASED = 3 } vpControllerType;
102 
103  vpServolens();
104  explicit vpServolens(const char *port);
105  virtual ~vpServolens();
106 
107  void open(const char *port = "/dev/ttyS0");
108  void close();
109  void reset() const;
110 
111  void setController(vpControllerType controller) const;
112  void setAutoIris(bool enable) const;
113  void setPosition(vpServoType servo, unsigned int position) const;
114  bool getPosition(vpServoType servo, unsigned int &position) const;
115  vpCameraParameters getCameraParameters(vpImage<unsigned char> &I) const;
116 
117  void enablePrompt(bool active) const;
118 
119 private:
120  void init() const;
121 
122  char wait() const;
123  void wait(vpServoType servo) const;
124 
125  bool read(char *c, long timeout_s) const;
126  void write(const char *s) const;
127 
128  bool clean(const char *in, char *out) const;
129 
130  int remfd; // file pointer of the host's tty
131  bool isinit;
132 };
133 
134 #endif
135 #endif
Generic class defining intrinsic camera parameters.
Interface for the Servolens lens attached to the camera fixed on the Afma4 robot.
Definition: vpServolens.h:90