F2/Lens.h

#ifndef EF232LENS_H
#define EF232LENS_H

#include "../Lens.h"
#include <string>
#include <pthread.h>
#include <queue>

#include "EF232LensDatabase.h"

namespace FCam { namespace F2 {

    // The lens on the Frankencamera II, by Birger
 
    class Lens: public FCam::Lens {
 
      public:
    Lens();
    Lens(const std::string &tty_);
    ~Lens();
   
    void setFocus(float diopters, float speed = -1);
    float getFocus();
    float farFocus();
    float nearFocus();
    bool focusChanging();
    int focusLatency();

    float minFocusSpeed();
    float maxFocusSpeed();
    
    void setZoom(float focal_length_mm, float speed = -1);
    float getZoom();
    float minZoom();
    float maxZoom();
    bool zoomChanging();
    int zoomLatency();
    float minZoomSpeed();
    float maxZoomSpeed();
    
    void setAperture(float f_number, float speed = -1);
    float getAperture();
    float wideAperture(float focal_length_mm = -1);
    float narrowAperture(float focal_length_mm = -1);
    bool apertureChanging();
    int apertureLatency();
    float minApertureSpeed();
    float maxApertureSpeed();
    
    void tagFrame(FCam::Frame *);

    class Tags: public FCam::Lens {
      public:
    };

    void reset();
    
      private:
    const std::string tty;
    int serial_fd;
    
    enum {
        NOT_INITIALIZED,
        NO_LENS,
        READY,
        BUSY
    } state;

    EF232LensDatabase lensDB;
    
    const EF232LensInfo *currentLens;
    
    // Current lens parameters

    unsigned int focalLength; // mm
    unsigned int aperture;    // 10x f-number
    unsigned int focusDist;   // encoder counts

    // Shared buf for parsing
    std::string buf;

    // Encoder->diopter conversion
    unsigned int focusEncoderMax;
    float diopScaleFactor;

    float encToDiopter(unsigned int encoder);
    unsigned int diopToEncoder(float diopters);

    // High-level setup code

    void init();
    void calibrateLens();

    // Lens control thread
    pthread_t controlThread;
    void runLensControlThread();

    // Individual commands

    std::string cmd_GetID();
    unsigned int cmd_GetFocalLength(std::string idStr="");
    unsigned int cmd_GetMinAperture(std::string idStr="");

    void cmd_GetZoomRange(unsigned int &min,
                  unsigned int &max);
    void cmd_GetFocusBracket(unsigned int &min,
                 unsigned int &max);
    unsigned int cmd_GetFocusEncoder();

    void cmd_SetFocusEncoder(unsigned int val);

    void cmd_DoInitialize();

    unsigned int cmd_DoApertureOpen();
    unsigned int cmd_DoAperture(unsigned int val);
    unsigned int cmd_DoApertureClose();

    void cmd_DoFocusAtZero();
    unsigned int cmd_DoFocus(unsigned int val);
    void cmd_DoFocusAtInf();

   
    // Basic communication functions
    void send(const std::string&);
    template<typename T>
    void read(T &val);
    void expect(const std::string& desired);
    void expect(const std::string& desired, std::string& remainder);
    };

    }
}

#endif

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