Cmd.h

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#ifndef CMD_H_
#define CMD_H_

//==============================================================================
// Includes
//==============================================================================
#include <set>
#include <string>
#include <sstream>

//==============================================================================
// Declaration
//==============================================================================
namespace ptu {

enum Axis {
    PAN, TILT
};

enum PresetAction {
    SET, GOTO, CLEAR
};

enum AxisLimit {
    UPPER, LOWER
};

enum CtrllMode {
    INDEP, PURE
};

class Cmd {
private:
    static void appendAxis(const Axis& axis, std::string currName, std::stringstream& ss);

protected:
    // do not allow any instance of this class
    Cmd();

public:
    // static const fields
    static const std::string DELIM_CR;          
    static const std::string DELIM_SP;          

    static const std::string SUCC_BEG;          
    static const std::string ERR_BEG;           

    static const std::string SUCC_CMD;          

    // static methods
    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);
};

} /* namespace ptu */

#endif /* CMD_H_ */