#include <Cmd.h>

Static Public Member Functions
static std::string	getPos (const Axis &axis, const bool &offset=false)

static std::string	setPos (const int &val, const Axis &axis, const bool &offset=false)

static std::string	getResolution (const Axis &axis)

static std::string	getMinPos (const Axis &axis)

static std::string	getMaxPos (const Axis &axis)

static std::string	getPanLimitMode ()

static std::string	setPanLimitMode (const bool &val)

static std::string	enableImmediatePosExec ()

static std::string	enableSlavedPosExec ()

static std::string	awaitPosCmdCompletion ()

static std::string	haltPosCmd (const bool &pan, const bool &tilt)

static std::string	autoScan (const int &panPos1, const int &panPos2)

static std::string	autoScan (const int &panPos1, const int &panPos2, const int &tiltPos1, const int &tiltPos2)

static std::string	lastAutoScan ()

static std::string	getAutoScanAtPowerUp ()

static std::string	setAutoScanAtPowerUp (const bool &val)

static std::string	stopAutoScan ()

static std::string	preset (const int &index, const PresetAction &action)

static std::string	getDesiredSpeed (const Axis &axis)

static std::string	setDesiredSpeed (const int &val, const Axis &axis)

static std::string	getCurrentSpeed (const Axis &axis)

static std::string	setDesiredDeltaSpeed (const int &val, const Axis &axis)

static std::string	getDesiredAccel (const Axis &axis)

static std::string	setDesiredAccel (const int &val, const Axis &axis)

static std::string	getDesiredBaseSpeed (const Axis &axis)

static std::string	setDesiredBaseSpeed (const int &val, const Axis &axis)

static std::string	getSpeedLimit (const Axis &axis, const AxisLimit &limit)

static std::string	setSpeedLimit (const int &val, const Axis &axis, const AxisLimit &limit)

static std::string	getCtrlMode ()

static std::string	setCtrlMode (const CtrllMode &mode)

Static Public Attributes
static const std::string	DELIM_CR = "\r"
	The CR delimiter. More...

static const std::string	DELIM_SP = " "
	The space delimiter. More...

static const std::string	SUCC_BEG = "*"
	The beginning of any successful command. More...

static const std::string	ERR_BEG = "!"
	The beginning of any error. More...

static const std::string	SUCC_CMD = "*\r"
	The return message for a successful command. More...

Protected Member Functions
	Cmd ()

Constructor & Destructor Documentation

◆ Cmd()

ptu::Cmd::Cmd ( )

protected

Member Function Documentation

◆ autoScan() [1/2]

string Cmd::autoScan	(	const int &	panPos1,
		const int &	panPos2
	)

static

Command defines and initiates repetitive monitoring (scanning) of the pan-tilt. Autoscanning is immediately terminated upon receipt of a character from the host computer, and the pan-tilt is sent to its home position.

Parameters

panPos1	the pan position from where to start
panPos2	the pan position where to stop

Returns: the properly formated message

◆ autoScan() [2/2]

string Cmd::autoScan	(	const int &	panPos1,
		const int &	panPos2,
		const int &	tiltPos1,
		const int &	tiltPos2
	)

static

Command defines and initiates repetitive monitoring (scanning) of the pan-tilt. Autoscanning is immediately terminated upon receipt of a character from the host computer, and the pan-tilt is sent to its home position.

Parameters

panPos1	the pan position from where to start
panPos2	the pan position where to stop
tiltPos1	the tilt position from where to start
tiltPos2	the tilt position where to stop

Returns: the properly formated message

◆ awaitPosCmdCompletion()

string Cmd::awaitPosCmdCompletion ( )

static

Await position command completion. Also useful for executing multiple coordinated position commands.

Returns: the properly formated message

◆ enableImmediatePosExec()

string Cmd::enableImmediatePosExec ( )

static

Enables immediate position execution mode.

Returns: the properly formated message

◆ enableSlavedPosExec()

string Cmd::enableSlavedPosExec ( )

static

Enables slaved position execution mode. Combine with await commands to execute multiple coordinated position commands.

Returns: the properly formated message

◆ getAutoScanAtPowerUp()

string Cmd::getAutoScanAtPowerUp ( )

static

Get autoscan status at power up.

Returns: the properly formated message

◆ getCtrlMode()

string Cmd::getCtrlMode ( )

static

Query the current speed control mode.

Returns: the properly formated message

◆ getCurrentSpeed()

string Cmd::getCurrentSpeed ( const Axis & axis )

static

Get current pan / tilt speed in positions / sec.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ getDesiredAccel()

string Cmd::getDesiredAccel ( const Axis & axis )

static

Get desired pan / tilt accelearation in positions / sec^2.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ getDesiredBaseSpeed()

string Cmd::getDesiredBaseSpeed ( const Axis & axis )

static

Get desired pan / tilt base speed in positions / sec.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ getDesiredSpeed()

string Cmd::getDesiredSpeed ( const Axis & axis )

static

Get desired pan / tilt speed in positions / sec.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ getMaxPos()

string Cmd::getMaxPos ( const Axis & axis )

static

Get maximum position possible.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ getMinPos()

string Cmd::getMinPos ( const Axis & axis )

static

Get minimum position possible.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ getPanLimitMode()

string Cmd::getPanLimitMode ( )

static

Get the pan position limit mode.

Returns: the properly formated message

◆ getPos()

string Cmd::getPos	(	const Axis &	axis,
		const bool &	offset = `false`
	)

static

Get current pan-tilt position.

Parameters

axis	the axis to be used
offset	if true, the relative value is used

Returns: the properly formated message

◆ getResolution()

string Cmd::getResolution ( const Axis & axis )

static

Get resolution in arc seconds.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ getSpeedLimit()

string Cmd::getSpeedLimit	(	const Axis &	axis,
		const AxisLimit &	limit
	)

static

Get the upper and lower speed bounds for desired speed commands.

Parameters

axis	the axis to be used
limit	the limit to be queried (upper or lower)

Returns: the properly formated message

◆ haltPosCmd()

string Cmd::haltPosCmd	(	const bool &	pan,
		const bool &	tilt
	)

static

Halts position commands on specific axis.

Parameters

pan	if true, halts position command on pan axis
tilt	if true, halts position command on tilt axis

Returns: the properly formated message

◆ lastAutoScan()

string Cmd::lastAutoScan ( )

static

Initiate last defined monitor (autoscan) command (the default at power up is pan axis only autoscan between the pan limit positions).

Returns: the properly formated message

◆ preset()

string Cmd::preset	(	const int &	index,
		const PresetAction &	action
	)

static

Sets, goes to or clear a preset position command.

Parameters

index	the index of the preset to act upon
action	the action to perform on preset

Returns: the properly formated message

◆ setAutoScanAtPowerUp()

string Cmd::setAutoScanAtPowerUp ( const bool & val )

static

Enable / disable autoscan at power up.

Returns: the properly formated message

◆ setCtrlMode()

string Cmd::setCtrlMode ( const CtrllMode & mode )

static

Set the current speed control mode (independent or pure speed)

◆ setDesiredAccel()

string Cmd::setDesiredAccel	(	const int &	val,
		const Axis &	axis
	)

static

Set desired pan / tilt acceleration in positions / sec^2.

Parameters

val	the desired acceleration
axis	the axis to be used

Returns: the properly formated message

◆ setDesiredBaseSpeed()

string Cmd::setDesiredBaseSpeed	(	const int &	val,
		const Axis &	axis
	)

static

Set desired pan / tilt base speed in positions / sec.

Parameters

val	the desired speed
axis	the axis to be used

Returns: the properly formated message

◆ setDesiredDeltaSpeed()

string Cmd::setDesiredDeltaSpeed	(	const int &	val,
		const Axis &	axis
	)

static

Set desired pan / tilt speed in position / sec as an offset from the current speed.

Parameters

axis	the axis to be used

Returns: the properly formated message

◆ setDesiredSpeed()

string Cmd::setDesiredSpeed	(	const int &	val,
		const Axis &	axis
	)

static

Set desired pan / tilt speed in positions / sec.

Parameters

val	the desired speed
axis	the axis to be used

Returns: the properly formated message

◆ setPanLimitMode()

string Cmd::setPanLimitMode ( const bool & val )

static

Enable or disable pan position limits.

Returns: the properly formated message

◆ setPos()

string Cmd::setPos	(	const int &	val,
		const Axis &	axis,
		const bool &	offset = `false`
	)

static

Set current pan-tilt position.

Parameters

val	the value to which to set the position
axis	the axis to be used
offset	if true, the relative value is used

Returns: the properly formated message

◆ setSpeedLimit()

string Cmd::setSpeedLimit	(	const int &	val,
		const Axis &	axis,
		const AxisLimit &	limit
	)

static

Set the upper and lower speed bounds for desired speed commands.

Parameters

val	the desired speed bound
axis	the axis to be used
limit	the limit to be queried (upper or lower)

Returns: the properly formated message

◆ stopAutoScan()

string Cmd::stopAutoScan ( )

static

To stop the auto scan.

Member Data Documentation

◆ DELIM_CR

const string Cmd::DELIM_CR = "\r"

static

The CR delimiter.

◆ DELIM_SP

const string Cmd::DELIM_SP = " "

static

The space delimiter.

◆ ERR_BEG

const string Cmd::ERR_BEG = "!"

static

The beginning of any error.

◆ SUCC_BEG

const string Cmd::SUCC_BEG = "*"

static

The beginning of any successful command.

◆ SUCC_CMD

const string Cmd::SUCC_CMD = "*\r"

static

The return message for a successful command.

The documentation for this class was generated from the following files:

/build/rock-master-18.09-drivers-ptu-directedperception-0.20171014/src/Cmd.h
/build/rock-master-18.09-drivers-ptu-directedperception-0.20171014/src/Cmd.cpp

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Constructor & Destructor Documentation

◆ Cmd()

Member Function Documentation

◆ autoScan() [1/2]

◆ autoScan() [2/2]

◆ awaitPosCmdCompletion()

◆ enableImmediatePosExec()

◆ enableSlavedPosExec()

◆ getAutoScanAtPowerUp()

◆ getCtrlMode()

◆ getCurrentSpeed()

◆ getDesiredAccel()

◆ getDesiredBaseSpeed()

◆ getDesiredSpeed()

◆ getMaxPos()

◆ getMinPos()

◆ getPanLimitMode()

◆ getPos()

◆ getResolution()

◆ getSpeedLimit()

◆ haltPosCmd()

◆ lastAutoScan()

◆ preset()

◆ setAutoScanAtPowerUp()

◆ setCtrlMode()

◆ setDesiredAccel()

◆ setDesiredBaseSpeed()

◆ setDesiredDeltaSpeed()

◆ setDesiredSpeed()

◆ setPanLimitMode()

◆ setPos()

◆ setSpeedLimit()

◆ stopAutoScan()

Member Data Documentation

◆ DELIM_CR

◆ DELIM_SP

◆ ERR_BEG

◆ SUCC_BEG

◆ SUCC_CMD