/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/comms/CSerialPort.h>

namespace mrpt::hwdrivers
{
/** This class implements initialization and communication methods to
 * control a generic Pan and Tilt Unit, working in radians.
 * \ingroup mrpt_hwdrivers_grp
 */
class CPtuBase
{
	/*************************** Atributes **********************/

   public:
	double tiltResolution, panResolution;

   protected:
	mrpt::comms::CSerialPort serPort;

	/**************************** Methods ***********************/

   public:
	/** Destructor */

	virtual ~CPtuBase() = default;

	/** Search limit forward */

	virtual bool rangeMeasure() = 0;

	/** Specification of positions in absolute terms */

	virtual bool moveToAbsPos(char axis, double nRad) = 0;

	/** Query position in absolute terms */

	virtual bool absPosQ(char axis, double& nRad) = 0;

	/** Specify desired axis position as an offset from the current position. \n
	 *	This method recives the number of radians to move.
	 *	\code
	 *	Example of use:
	 *		TT-500 *
	 *		A *
	 *		TO * Current Tilt position is -500
	 *		TO500 *
	 *		A *
	 *		TT * Current Pan position is 1000
	 *	\endcode
	 */

	virtual bool moveToOffPos(char axis, double nRad) = 0;

	/** Query position in relative terms */

	virtual bool offPosQ(char axis, double& nRad) = 0;

	/** Query max movement limit of a axis in absolute terms */

	virtual bool maxPosQ(char axis, double& nRad) = 0;

	/** Query min movement limit of a axis in absolute terms */

	virtual bool minPosQ(char axis, double& nRad) = 0;

	/** Query if exist movement limits */

	virtual bool enableLimitsQ(bool& enable) = 0;  // Query if exist some limit

	/** Enable/Disable movement limits */

	virtual bool enableLimits(bool set) = 0;

	/** With I mode (default) instructs pan-tilt unit to immediately
	 *	execute positional commands. \n
	 *	In S mode instructs pan-tilt unit to execute positional commands
	 *	only when an Await Position Command Completion command is executed
	 *	or when put into Immediate Execution Mode. \n
	 *	\code
	 *	Example of use of S mode:
	 *		DR *
	 *		S *
	 *		PP1500 *
	 *		TP-900 *
	 *		PP * Current Pan position is 0
	 *		TP * Current Tilt position is 0
	 *		A *
	 *		PP * Current Pan position is 1500
	 *		TP * Current Tilt position is -900
	 *	\endcode
	 */

	virtual bool inmediateExecution(bool set) = 0;

	/** Wait the finish of the last position command to
	 *	continue accept commands
	 */

	virtual bool aWait() = 0;

	/** Inmediately stop all */

	virtual bool haltAll() = 0;

	/** Inmediately stop */

	virtual bool halt(char axis) = 0;

	/** Specification of turn speed */

	virtual bool speed(char axis, double RadSec) = 0;

	/** Query turn speed */

	virtual bool speedQ(char axis, double& RadSec) = 0;

	/** Specification (de/a)celeration in turn */

	virtual bool aceleration(char axis, double RadSec2) = 0;

	/** Query (de/a)celeration in turn */

	virtual bool acelerationQ(char axis, double& RadSec2) = 0;

	/** Specification of velocity to which start and finish
	 *	the (de/a)celeration
	 */

	virtual bool baseSpeed(char axis, double RadSec) = 0;

	/** Query velocity to which start and finish
	 *	the (de/a)celeration
	 */

	virtual bool baseSpeedQ(char axis, double& RadSec) = 0;

	/** Specification of velocity upper limit */

	virtual bool upperSpeed(char axis, double RadSec) = 0;

	/** Query velocity upper limit */

	virtual bool upperSpeedQ(char axis, double& RadSec) = 0;

	/** Specification of velocity lower limit */

	virtual bool lowerSpeed(char axis, double RadSec) = 0;

	/** Query velocity lower limit */

	virtual bool lowerSpeedQ(char axis, double& RadSec) = 0;

	/** Reset PTU to initial state */

	virtual bool reset() = 0;

	/** Save or restart default values */

	virtual bool save() = 0;

	/** Restore default values */

	virtual bool restoreDefaults() = 0;

	/** Restore factory default values */

	virtual bool restoreFactoryDefaults() = 0;

	/** Version and CopyRights */

	virtual bool version(char* nVersion) = 0;

	/** Number of version */

	virtual void nversion(double& nVersion) = 0;

	/** Query power mode */

	virtual bool powerModeQ(bool transit, char& mode) = 0;

	/** Specification of power mode */

	virtual bool powerMode(bool transit, char mode) = 0;

	/** Check if ptu is moving */

	virtual double status(double& rad) = 0;

	/** Set limits of movement */

	virtual bool setLimits(char axis, double& l, double& u) = 0;

	/* Change motion direction */

	virtual bool changeMotionDir() = 0;

	/**************************** State Queries ********************/

	/** Check errors, returns 0 if there are not errors or error code otherwise
	 * **/

	virtual int checkErrors() = 0;

	/** Clear errors **/

	virtual void clearErrors() = 0;

	/*************************** Other member methods *****************/

	/** PTU and serial port initialization */

	virtual bool init(const std::string& port) = 0;

	/** Close Connection with serial port */

	virtual void close() = 0;

	/** To obtains the mistake for use discrete values when the movement
	 *	is expressed in radians. Parameters are the absolute position in
	 *	radians and the axis desired
	 */

	virtual double radError(char axis, double nRadMoved) = 0;

	/**  To obtain the discrete value for a number of radians */

	virtual long radToPos(char axis, double nRad) = 0;

	/** To obtain the number of radians for a discrete value */

	virtual double posToRad(char axis, long nPos) = 0;

	/** Performs a scan in the axis indicated and whit the precision desired.
	 *		\param <axis> {Pan or Till}
	 *		\param <tWait> {Wait time betwen commands}
	 *		\param <initial> {initial position}
	 *		\param <final> {final position}
	 *		\param <RadPre> {radians precision for the scan}
	 */

	virtual bool scan(
		char axis, int wait, float initial, float final, double RadPre) = 0;

	/** Query verbose mode */

	virtual bool verboseQ(bool& modo) = 0;

	/** Set verbose. \n
	 *	\conde
	 *	Example of response with FV (verbose) active:
	 *		FV *
	 *		PP * Current pan position is 0
	 *		Example of response with FT (terse) active:
	 *		FT *
	 *		PP * 0
	 *	\endcode
	 */

	virtual bool verbose(bool set) = 0;

	/** Query echo mode */

	virtual bool echoModeQ(bool& mode) = 0;

	/** Enable/Disable echo response with command. \n
	 *	\code
	 *	Example of use (EE supposed):
	 *		PP * 22
	 *		ED *
	 *		<pp entered again, but not echoed>* 22
	 *	\endcode
	 */

	virtual bool echoMode(bool mode) = 0;

	/** Query the pan and tilt resolution per position moved
	 *	and initialize local atributes
	 */

	virtual bool resolution() = 0;

	/*************************** Methods for internal use ****************/

   private:
	/** To transmition commands to the PTU */

	virtual bool transmit(const char* command) = 0;

	/** To receive the responseof the PTU */

	virtual bool receive(const char* command, char* response) = 0;

	/** Used to obtains a number of radians */

	virtual bool radQuerry(char axis, char command, double& nRad) = 0;

	/** Method used for asign a number of radians with a command */

	virtual bool radAsign(char axis, char command, double nRad) = 0;

};	// End of class

}  // namespace mrpt::hwdrivers
