/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARSONYPTZ_H
#define ARSONYPTZ_H

#include "ariaTypedefs.h"
#include "ArBasePacket.h"
#include "ArPTZ.h"

/// A class for for making commands to send to the sony
/** There are only two functioning ways to put things into this packet, you
    MUST use thse, if you use anything else your commands won't work.  You 
    must use uByteToBuf and byte2ToBuf.  
*/
class ArSonyPacket: public ArBasePacket
{
public:
  /// Constructor
  AREXPORT ArSonyPacket(ArTypes::UByte2 bufferSize = 15);
  AREXPORT virtual ~ArSonyPacket();
  
  AREXPORT virtual void uByteToBuf(ArTypes::UByte val);
  AREXPORT virtual void byte2ToBuf(ArTypes::Byte2 val);
  /// This is a new function, read the details before you try to use it
  AREXPORT void byte2ToBufAtPos(ArTypes::Byte2 val, ArTypes::UByte2 pose);
};

class ArRobot;

/// A class to use the sony pan tilt zoom unit

class ArSonyPTZ : public ArPTZ
{
public:
  AREXPORT ArSonyPTZ(ArRobot *robot);
  AREXPORT virtual ~ArSonyPTZ();
  
  AREXPORT virtual bool init(void);
  AREXPORT virtual bool pan(double degrees);
  AREXPORT virtual bool panRel(double degrees);
  AREXPORT virtual bool tilt(double degrees);
  AREXPORT virtual bool tiltRel(double degrees);
  AREXPORT virtual bool panTilt(double degreesPan, double degreesTilt);
  AREXPORT virtual bool panTiltRel(double degreesPan, double degreesTilt);
  AREXPORT virtual bool canZoom(void) const { return true; }
  AREXPORT virtual bool zoom(int zoomValue);
  AREXPORT virtual bool zoomRel(int zoomValue);
  AREXPORT virtual double getPan(void) const { return myPan; }
  AREXPORT virtual double getTilt(void) const { return myTilt; }
  AREXPORT virtual int getZoom(void) const { return myZoom; }
  AREXPORT virtual double getMaxPosPan(void) const { return 90; }
  AREXPORT virtual double getMaxNegPan(void) const { return -90; }
  AREXPORT virtual double getMaxPosTilt(void) const { return 30; }
  AREXPORT virtual double getMaxNegTilt(void) const { return -30; }
  AREXPORT virtual int getMaxZoom(void) const { return 1024; }
  AREXPORT virtual int getMinZoom(void) const { return 0; }

  AREXPORT virtual bool canGetFOV(void) { return true; }
  /// Gets the field of view at maximum zoom
  AREXPORT virtual double getFOVAtMaxZoom(void) { return 4.4; }
  /// Gets the field of view at minimum zoom
  AREXPORT virtual double getFOVAtMinZoom(void) { return 48.8; }

  AREXPORT bool backLightingOn(void);
  AREXPORT bool backLightingOff(void);
  //AREXPORT bool packetHandler(ArRobotPacket *packet);
  enum {
    MAX_PAN = 95, ///< maximum degrees the unit can pan (either direction)
    MAX_TILT = 25, ///< maximum degrees the unit can tilt (either direction)
    MIN_ZOOM = 0, ///< minimum value for zoom
    MAX_ZOOM = 1023 ///< maximum value for zoom
  };
protected:
  void initializePackets(void);
  ArRobot *myRobot;
  double myPan;
  double myTilt;
  int myZoom;
  double myDegToTilt;
  double myDegToPan;
  ArSonyPacket myPacket;
  ArSonyPacket myZoomPacket; 
  ArSonyPacket myPanTiltPacket;
};

#endif // ARSONYPTZ_H