PanTiltManualControl.cpp

/*
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include <Base/Common/BIASpragma.hh>
#include <PanTilt/DPPanTiltControl.hh>
#ifdef WIN32
  #include <conio.h>
#else // WIN32
  #include <ncurses.h>
#endif // WIN32
#include <fstream>

#include "PanTiltManualControl.hh"

using namespace std;
using namespace BIAS;

/* contructor, just calls base constructor */
PanTiltManualControl::PanTiltManualControl(std::string device, bool heavyDutyMode):
        PanTiltControlInterface(device, heavyDutyMode)
{

}
/* starts the control */
void PanTiltManualControl::StartControl() {
    int min_pan = -2000;
    int max_pan = 2000;
    int min_tilt = -900;
    int max_tilt = 700;
    int pan_mod = 100;
    int tilt_mod = 100;

    PanTiltControlInterface::ptControl.SetMode(ABSOLUTEMODE);
    await_completion();
    PanTiltControlInterface::ptControl.SetSpeed(MAXSPEED/4,MAXSPEED/4);

    ofstream myfile;
    myfile.open("ptu_data.txt", ios::out);

    int key=-1;
    bool looping = true;
    bool move_pt;
    while(looping) {
        key = getch();
        move_pt = false;
        switch (key) {
        case 'a':
            cur_pan+=pan_mod;
            if (cur_pan > max_pan)
                cur_pan = max_pan;
            move_pt = true;
            break;
        case 'd':
            cur_pan-=pan_mod;
            if (cur_pan < min_pan)
                cur_pan = min_pan;
            move_pt = true;
            break;
        case 'w':
            cur_tilt+=tilt_mod;
            if (cur_tilt > max_tilt)
                cur_tilt = max_tilt;
            move_pt = true;
            break;
        case 's':
            cur_tilt-=tilt_mod;
            if (cur_tilt < min_tilt)
                cur_tilt = min_tilt;
            move_pt = true;
            break;
        case 'o':
            PanTiltControlInterface::ptControl.SetSpeed(MAXSPEED/4, MAXSPEED/4);
            for (int i=0;i<=10;i+=2) {
                int tilt = -500+(tilt_mod*i);
                key = getch();
                if (key == 'q')
                    break;
                PanTiltControlInterface::ptControl.SetPosition(1800, tilt);
                key = getch();
                if (key == 'q')
                    break;
                PanTiltControlInterface::ptControl.SetPosition(-1800, tilt);
            }
            PanTiltControlInterface::ptControl.SetSpeed(MAXSPEED, MAXSPEED);
            move_pt=true;
            break;
        case ' ':
            looping = false;
            myfile.close();
            break;
        }
        if (move_pt) {
            PanTiltControlInterface::ptControl.SetPosition(cur_pan,cur_tilt);
            await_completion();
            double p,t;
            PanTiltControlInterface::GetPositionDegrees(p,t);
            myfile << p << " ";
            myfile << t << endl;
#ifdef WIN32
            cout << "PAN: " << cur_pan << " TILT: " << cur_tilt << endl;
            cout << "PAN: " << p << " TILT: " << t << endl;
#else
            mvprintw(4,0, "PAN: %d   Tilt: %d           \n", cur_pan, cur_tilt);
            mvprintw(5,0, "PAN: %f   Tilt: %f           \n", p, t);
#endif          
        }
    }
    PanTiltControlInterface::ptControl.SetPosition(0,0);
    cout << "exited from ncurses loop" << endl;
}