<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify</span> <a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span> <a name="l00011"></a>00011 <span class="comment"> *</span> <a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00016"></a>00016 <span class="comment"> *</span> <a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00020"></a>00020 <span class="comment"> *</span> <a name="l00021"></a>00021 <span class="comment"> */</span> <a name="l00022"></a>00022 <a name="l00023"></a>00023 <span class="comment">/*</span> <a name="l00024"></a>00024 <span class="comment"> * $Id: sip.h 6374 2008-04-23 05:17:52Z gbiggs $</span> <a name="l00025"></a>00025 <span class="comment"> *</span> <a name="l00026"></a>00026 <span class="comment"> * part of the P2OS parser. methods for filling and parsing server</span> <a name="l00027"></a>00027 <span class="comment"> * information packets (SIPs)</span> <a name="l00028"></a>00028 <span class="comment"> */</span> <a name="l00029"></a>00029 <span class="preprocessor">#ifndef _SIP_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define _SIP_H</span> <a name="l00031"></a>00031 <span class="preprocessor"></span> <a name="l00032"></a>00032 <span class="preprocessor">#include <limits.h></span> <a name="l00033"></a>00033 <a name="l00034"></a>00034 <span class="preprocessor">#include "p2os.h"</span> <a name="l00035"></a>00035 <a name="l00036"></a><a class="code" href="structArmJoint.html">00036</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structArmJoint.html">ArmJoint</a> <a name="l00037"></a>00037 { <a name="l00038"></a>00038 <span class="keywordtype">char</span> speed; <a name="l00039"></a>00039 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> home; <a name="l00040"></a>00040 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> min; <a name="l00041"></a>00041 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> centre; <a name="l00042"></a>00042 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> max; <a name="l00043"></a>00043 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> ticksPer90; <a name="l00044"></a>00044 } <a class="code" href="structArmJoint.html">ArmJoint</a>; <a name="l00045"></a>00045 <a name="l00046"></a><a class="code" href="classSIP.html">00046</a> <span class="keyword">class </span><a class="code" href="classSIP.html">SIP</a> <a name="l00047"></a>00047 { <a name="l00048"></a>00048 <span class="keyword">private</span>: <a name="l00049"></a>00049 <span class="keywordtype">int</span> PositionChange( <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> ); <a name="l00050"></a>00050 <span class="keywordtype">int</span> param_idx; <span class="comment">// index of our robot's data in the parameter table</span> <a name="l00051"></a>00051 <a name="l00052"></a>00052 <span class="keyword">public</span>: <a name="l00053"></a>00053 <span class="comment">// these values are returned in every standard SIP</span> <a name="l00054"></a>00054 <span class="keywordtype">bool</span> lwstall, rwstall; <a name="l00055"></a>00055 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> status, battery, sonarreadings, analog, digin, digout; <a name="l00056"></a>00056 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> ptu, compass, timer, rawxpos; <a name="l00057"></a>00057 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> rawypos, frontbumpers, rearbumpers; <a name="l00058"></a>00058 <span class="keywordtype">short</span> angle, lvel, rvel, control; <a name="l00059"></a>00059 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *sonars; <a name="l00060"></a>00060 <span class="keywordtype">int</span> xpos, ypos; <a name="l00061"></a>00061 <span class="keywordtype">int</span> x_offset,y_offset,angle_offset; <a name="l00062"></a>00062 <a name="l00063"></a>00063 <span class="comment">// these values are returned in a CMUcam serial string extended SIP</span> <a name="l00064"></a>00064 <span class="comment">// (in host byte-order)</span> <a name="l00065"></a>00065 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> blobmx, blobmy; <span class="comment">// Centroid</span> <a name="l00066"></a>00066 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> blobx1, blobx2, bloby1, bloby2; <span class="comment">// Bounding box</span> <a name="l00067"></a>00067 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> blobarea, blobconf; <span class="comment">// Area and confidence</span> <a name="l00068"></a>00068 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> blobcolor; <a name="l00069"></a>00069 <a name="l00070"></a>00070 <span class="comment">// This value is filled by ParseGyro()</span> <a name="l00071"></a>00071 int32_t gyro_rate; <a name="l00072"></a>00072 <a name="l00073"></a>00073 <span class="comment">// This information comes from the ARMpac and ARMINFOpac packets</span> <a name="l00074"></a>00074 <span class="keywordtype">bool</span> armPowerOn, armConnected; <a name="l00075"></a>00075 <span class="keywordtype">bool</span> armJointMoving[6]; <a name="l00076"></a>00076 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> armJointPos[6]; <a name="l00077"></a>00077 <span class="keywordtype">double</span> armJointPosRads[6]; <a name="l00078"></a>00078 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> armJointTargetPos[6]; <a name="l00079"></a>00079 <span class="keywordtype">char</span> *armVersionString; <a name="l00080"></a>00080 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> armNumJoints; <a name="l00081"></a>00081 <a class="code" href="structArmJoint.html">ArmJoint</a> *armJoints; <a name="l00082"></a>00082 <a name="l00083"></a>00083 <span class="comment">// Need this value to calculate approx position of lift when in between up and down</span> <a name="l00084"></a>00084 <span class="keywordtype">double</span> lastLiftPos; <a name="l00085"></a>00085 <a name="l00086"></a>00086 <span class="comment">//Timestamping SIP packets</span> <a name="l00087"></a>00087 <span class="comment">//double timeStandardSIP, timeGyro, timeSERAUX, timeArm;</span> <a name="l00088"></a>00088 <a name="l00089"></a>00089 <span class="comment">/* returns 0 if Parsed correctly otherwise 1 */</span> <a name="l00090"></a>00090 <span class="keywordtype">void</span> ParseStandard( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer ); <a name="l00091"></a>00091 <span class="keywordtype">void</span> <a class="code" href="classSIP.html#a69866f16dea6d4089901da5e5f98cfcb" title="Parse a SERAUX SIP packet.">ParseSERAUX</a>( <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer ); <a name="l00092"></a>00092 <span class="keywordtype">void</span> ParseGyro(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buffer); <a name="l00093"></a>00093 <span class="keywordtype">void</span> ParseArm (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer); <a name="l00094"></a>00094 <span class="keywordtype">void</span> ParseArmInfo (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer); <a name="l00095"></a>00095 <span class="keywordtype">void</span> Print(); <a name="l00096"></a>00096 <span class="keywordtype">void</span> PrintSonars(); <a name="l00097"></a>00097 <span class="keywordtype">void</span> PrintArm (); <a name="l00098"></a>00098 <span class="keywordtype">void</span> PrintArmInfo (); <a name="l00099"></a>00099 <span class="keywordtype">void</span> FillStandard(player_p2os_data_t* data); <a name="l00100"></a>00100 <span class="keywordtype">void</span> FillSERAUX(player_p2os_data_t* data); <a name="l00101"></a>00101 <span class="keywordtype">void</span> FillGyro(player_p2os_data_t* data); <a name="l00102"></a>00102 <span class="keywordtype">void</span> FillArm(player_p2os_data_t* data); <a name="l00103"></a>00103 <a name="l00104"></a>00104 <a class="code" href="classSIP.html">SIP</a>(<span class="keywordtype">int</span> idx) <a name="l00105"></a>00105 { <a name="l00106"></a>00106 param_idx = idx; <a name="l00107"></a>00107 sonarreadings = 0; <a name="l00108"></a>00108 sonars = NULL; <a name="l00109"></a>00109 <a name="l00110"></a>00110 xpos = INT_MAX; <a name="l00111"></a>00111 ypos = INT_MAX; <a name="l00112"></a>00112 <a name="l00113"></a>00113 <span class="comment">// intialise some of the internal values</span> <a name="l00114"></a>00114 blobmx = blobmy = blobx1 = blobx2 = bloby1 = bloby2 = blobarea = blobconf = blobcolor = 0; <a name="l00115"></a>00115 armPowerOn = armConnected = <span class="keyword">false</span>; <a name="l00116"></a>00116 armVersionString = NULL; <a name="l00117"></a>00117 armJoints = NULL; <a name="l00118"></a>00118 armNumJoints = 0; <a name="l00119"></a>00119 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < 6; ++i) <a name="l00120"></a>00120 { <a name="l00121"></a>00121 armJointMoving[i] = <span class="keyword">false</span>; <a name="l00122"></a>00122 armJointPos[i] = 0; <a name="l00123"></a>00123 armJointPosRads[i] = 0; <a name="l00124"></a>00124 armJointTargetPos[i] = 0; <a name="l00125"></a>00125 } <a name="l00126"></a>00126 } <a name="l00127"></a>00127 <a name="l00128"></a>00128 ~<a class="code" href="classSIP.html">SIP</a>(<span class="keywordtype">void</span>) <a name="l00129"></a>00129 { <a name="l00130"></a>00130 <span class="keyword">delete</span>[] sonars; <a name="l00131"></a>00131 } <a name="l00132"></a>00132 }; <a name="l00133"></a>00133 <a name="l00134"></a>00134 <span class="preprocessor">#endif</span> </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>