<!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</span> <a name="l00008"></a>00008 <span class="comment"> * modify it under the terms of the GNU Lesser General Public</span> <a name="l00009"></a>00009 <span class="comment"> * License as published by the Free Software Foundation; either</span> <a name="l00010"></a>00010 <span class="comment"> * version 2.1 of the License, or (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 library 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 GNU</span> <a name="l00015"></a>00015 <span class="comment"> * Lesser 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 Lesser General Public</span> <a name="l00018"></a>00018 <span class="comment"> * License along with this library; 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 <a name="l00030"></a>00030 <span class="preprocessor">#ifndef _NAV200_H</span> <a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define _NAV200_H</span> <a name="l00032"></a>00032 <span class="preprocessor"></span> <a name="l00033"></a>00033 <span class="preprocessor">#include <libplayercore/playercore.h></span> <a name="l00034"></a>00034 <span class="preprocessor">#include <sys/types.h></span> <a name="l00035"></a>00035 <span class="preprocessor">#include <sys/stat.h></span> <a name="l00036"></a>00036 <span class="preprocessor">#if !defined (WIN32)</span> <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor"> #include <sys/time.h></span> <a name="l00038"></a>00038 <span class="preprocessor"> #include <termios.h></span> <a name="l00039"></a>00039 <span class="preprocessor"> #include <strings.h></span> <a name="l00040"></a>00040 <span class="preprocessor"> #include <unistd.h></span> <a name="l00041"></a>00041 <span class="preprocessor">#endif</span> <a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#include <fcntl.h></span> <a name="l00043"></a>00043 <span class="preprocessor">#include <stdio.h></span> <a name="l00044"></a>00044 <span class="preprocessor">#include <stdlib.h></span> <a name="l00045"></a>00045 <span class="preprocessor">#include <errno.h></span> <a name="l00046"></a>00046 <span class="preprocessor">#include <string.h></span> <a name="l00047"></a>00047 <span class="preprocessor">#include <pthread.h></span> <a name="l00048"></a>00048 <span class="preprocessor">#include <math.h></span> <a name="l00049"></a>00049 <span class="comment">//#include <stdint.h></span> <a name="l00050"></a>00050 <a name="l00051"></a>00051 <span class="preprocessor">#if defined (WIN32)</span> <a name="l00052"></a>00052 <span class="preprocessor"></span> <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ssize_t; <a name="l00053"></a>00053 <span class="preprocessor">#endif</span> <a name="l00054"></a>00054 <span class="preprocessor"></span> <a name="l00055"></a>00055 <span class="preprocessor">#define STX 0x02</span> <a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define MAXLEN 255</span> <a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define BUFFER_SIZE 256</span> <a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define HEADER_SIZE 4</span> <a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define FOOTER_SIZE 1</span> <a name="l00060"></a>00060 <span class="preprocessor"></span> <a name="l00061"></a><a class="code" href="structNav200Command.html">00061</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structNav200Command.html">Nav200Command</a> <a name="l00062"></a>00062 { <a name="l00063"></a>00063 uint8_t header; <a name="l00064"></a>00064 uint8_t length; <a name="l00065"></a>00065 uint8_t mode; <a name="l00066"></a>00066 uint8_t function; <a name="l00067"></a>00067 uint8_t data [MAXLEN-HEADER_SIZE-FOOTER_SIZE+1]; <a name="l00068"></a>00068 <span class="keywordtype">int</span> dataLength; <a name="l00069"></a>00069 uint8_t BCC; <a name="l00070"></a>00070 }<a class="code" href="structNav200Command.html">Nav200Command</a>; <a name="l00071"></a>00071 <a name="l00072"></a>00072 <span class="comment">// typedef struct ReflectorInfo</span> <a name="l00073"></a>00073 <span class="comment">// {</span> <a name="l00074"></a>00074 <span class="comment">// uint8_t layer;</span> <a name="l00075"></a>00075 <span class="comment">// uint8_t number;</span> <a name="l00076"></a>00076 <span class="comment">// }ReflectorInfo;</span> <a name="l00077"></a>00077 <a name="l00078"></a><a class="code" href="structPositionXY.html">00078</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structPositionXY.html">PositionXY</a> <a name="l00079"></a>00079 {<span class="comment">//position is in mm</span> <a name="l00080"></a>00080 <span class="keywordtype">int</span> x; <a name="l00081"></a>00081 <span class="keywordtype">int</span> y; <a name="l00082"></a>00082 }<a class="code" href="structPositionXY.html">PositionXY</a>; <a name="l00083"></a>00083 <a name="l00084"></a>00084 <a name="l00085"></a><a class="code" href="structReflectorData.html">00085</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structReflectorData.html">ReflectorData</a> <a name="l00086"></a>00086 { <a name="l00087"></a>00087 uint8_t layer; <a name="l00088"></a>00088 uint8_t number; <span class="comment">// reflector number</span> <a name="l00089"></a>00089 <a class="code" href="structPositionXY.html">PositionXY</a> pos; <a name="l00090"></a>00090 }<a class="code" href="structReflectorData.html">ReflectorData</a>; <a name="l00091"></a>00091 <a name="l00092"></a>00092 <a name="l00093"></a><a class="code" href="structLaserPos.html">00093</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structLaserPos.html">LaserPos</a> <a name="l00094"></a>00094 { <a name="l00095"></a>00095 <a class="code" href="structPositionXY.html">PositionXY</a> pos; <span class="comment">// position of the laser scanner</span> <a name="l00096"></a>00096 <span class="keywordtype">short</span> orientation; <a name="l00097"></a>00097 uint8_t quality; <a name="l00098"></a>00098 uint8_t number; <span class="comment">// number of reflectors used</span> <a name="l00099"></a>00099 }<a class="code" href="structLaserPos.html">LaserPos</a>; <a name="l00100"></a>00100 <a name="l00101"></a><a class="code" href="structErrorBytes.html">00101</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structErrorBytes.html">ErrorBytes</a> <a name="l00102"></a>00102 { <a name="l00103"></a>00103 uint8_t F0; <span class="comment">// function byte of the last command</span> <a name="l00104"></a>00104 uint8_t F1; <span class="comment">// error class</span> <a name="l00105"></a>00105 uint8_t F2; <span class="comment">// error group</span> <a name="l00106"></a>00106 uint8_t F3; <span class="comment">// error specification</span> <a name="l00107"></a>00107 }<a class="code" href="structErrorBytes.html">ErrorBytes</a>; <a name="l00108"></a>00108 <a name="l00109"></a>00109 <a name="l00110"></a>00110 <a name="l00111"></a>00111 <a name="l00112"></a><a class="code" href="classNav200.html">00112</a> <span class="keyword">class </span><a class="code" href="classNav200.html">Nav200</a> <a name="l00113"></a>00113 { <a name="l00114"></a>00114 <span class="keyword">public</span>: <a name="l00115"></a>00115 <a name="l00116"></a>00116 <span class="keyword">friend</span> <span class="keyword">class </span>SickNAV200; <a name="l00117"></a>00117 <a class="code" href="classNav200.html">Nav200</a>(); <a name="l00118"></a>00118 ~<a class="code" href="classNav200.html">Nav200</a>(); <a name="l00119"></a>00119 <a name="l00120"></a>00120 <span class="keywordtype">int</span> Initialise(<a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a>* device, <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>* opaque, <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> opaque_id); <a name="l00121"></a>00121 <span class="keywordtype">int</span> Terminate(); <a name="l00122"></a>00122 <a name="l00123"></a>00123 <span class="keywordtype">int</span> ProcessData(); <a name="l00124"></a>00124 <a name="l00125"></a>00125 <span class="comment">// standby mode</span> <a name="l00126"></a>00126 <span class="keywordtype">bool</span> EnterStandby(); <a name="l00127"></a>00127 <span class="keywordtype">int</span> GetVersionNumber(); <a name="l00128"></a>00128 <span class="keywordtype">char</span>* GetVersionString(); <span class="comment">//String pointer return is only valid till the next request to Nav200</span> <a name="l00129"></a>00129 <span class="keywordtype">short</span> GetDeviceSerial(); <a name="l00130"></a>00130 <span class="keywordtype">bool</span> rotateDirection(uint8_t direction); <a name="l00131"></a>00131 <span class="keywordtype">bool</span> GetReflectorPosition(uint8_t layer, uint8_t number, <a class="code" href="structPositionXY.html">PositionXY</a> & reflector); <a name="l00132"></a>00132 <span class="keywordtype">bool</span> ChangeReflectorPosition(uint8_t layer, uint8_t number, <span class="keywordtype">int</span> newX, <span class="keywordtype">int</span> newY); <a name="l00133"></a>00133 <span class="keywordtype">bool</span> InsertReflectorPosition(uint8_t layer, uint8_t number, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y); <a name="l00134"></a>00134 <span class="keywordtype">bool</span> DeleteReflectorPosition(uint8_t layer, uint8_t number, <a class="code" href="structPositionXY.html">PositionXY</a> & reflector); <a name="l00135"></a>00135 <a name="l00136"></a>00136 <span class="comment">// read and set reflector radii</span> <a name="l00137"></a>00137 <span class="keywordtype">int</span> GetReflectorRadius(uint8_t layer); <a name="l00138"></a>00138 <span class="keywordtype">bool</span> SetReflectorRadius(uint8_t layer, uint8_t radius); <a name="l00139"></a>00139 <a name="l00140"></a>00140 <span class="comment">// mapping mode</span> <a name="l00141"></a>00141 <span class="keywordtype">bool</span> EnterMapping(); <a name="l00142"></a>00142 <span class="keywordtype">int</span> StartMapping(uint8_t layer, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation, uint8_t radius); <a name="l00143"></a>00143 <span class="keywordtype">int</span> StartMappingMeasurement(uint8_t layer, uint8_t scans, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation, uint8_t radius); <a name="l00144"></a>00144 <span class="keywordtype">int</span> StartNegativeMappingMeasurement(uint8_t layer, uint8_t scans, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation, uint8_t radius); <a name="l00145"></a>00145 <span class="keywordtype">bool</span> MappingPosition(uint8_t layer, uint8_t number, <a class="code" href="structPositionXY.html">PositionXY</a> & reflector); <a name="l00146"></a>00146 <a name="l00147"></a>00147 <span class="comment">// positioning mode</span> <a name="l00148"></a>00148 <span class="keywordtype">bool</span> EnterPositioning(); <a name="l00149"></a>00149 <span class="keywordtype">bool</span> EnterPositioningInput(uint8_t NumberOfMeasurements); <a name="l00150"></a>00150 <span class="keywordtype">bool</span> GetPositionAuto(<a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition); <a name="l00151"></a>00151 <span class="keywordtype">bool</span> GetPositionSpeed(<span class="keywordtype">short</span> speedX, <span class="keywordtype">short</span> speedY, <a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition); <a name="l00152"></a>00152 <span class="keywordtype">bool</span> GetPositionSpeedVelocity(<span class="keywordtype">short</span> speedX, <span class="keywordtype">short</span> speedY, <span class="keywordtype">short</span> velocity, <a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition); <a name="l00153"></a>00153 <span class="keywordtype">bool</span> GetPositionSpeedVelocityAbsolute(<span class="keywordtype">short</span> speedX, <span class="keywordtype">short</span> speedY, <span class="keywordtype">short</span> velocity, <a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition); <a name="l00154"></a>00154 <span class="keywordtype">bool</span> ChangeLayer(uint8_t layer); <a name="l00155"></a>00155 <span class="keywordtype">bool</span> ChangeLayerDefPosition(uint8_t layer, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation); <a name="l00156"></a>00156 <span class="keywordtype">bool</span> SetActionRadii(<span class="keywordtype">int</span> <a class="code" href="group__player__clientlib__utility.html#gae595027e3eb7a9c12bf49dee42d6ea06" title="Return the minimum of a, b.">min</a>, <span class="keywordtype">int</span> <a class="code" href="group__player__clientlib__utility.html#gaa6c2b569d3d0e6c174a49e8ec1aac796" title="Return the maximum of a, b.">max</a>); <a name="l00157"></a>00157 <span class="keywordtype">bool</span> SelectNearest(uint8_t N_nearest); <a name="l00158"></a>00158 <a name="l00159"></a>00159 <span class="comment">// upload mode</span> <a name="l00160"></a>00160 <span class="keywordtype">bool</span> EnterUpload(); <a name="l00161"></a>00161 <span class="keywordtype">bool</span> GetUploadTrans(uint8_t layer, <a class="code" href="structReflectorData.html">ReflectorData</a> & reflector); <a name="l00162"></a>00162 <span class="comment">// download mode</span> <a name="l00163"></a>00163 <span class="keywordtype">bool</span> EnterDownload(); <a name="l00164"></a>00164 <span class="keywordtype">bool</span> DownloadReflector(uint8_t layer, uint8_t number, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y); <a name="l00165"></a>00165 <a name="l00166"></a>00166 <a name="l00167"></a>00167 <span class="keyword">protected</span>: <a name="l00168"></a>00168 <span class="comment">// serial port descriptor</span> <a name="l00169"></a>00169 <span class="comment">//int fd;</span> <a name="l00170"></a>00170 <span class="comment">//struct termios oldtio;</span> <a name="l00171"></a>00171 <a name="l00172"></a>00172 uint8_t receivedBuffer[BUFFER_SIZE]; <a name="l00173"></a>00173 <span class="keywordtype">int</span> bytesReceived; <a name="l00174"></a>00174 <a class="code" href="structNav200Command.html">Nav200Command</a> packet; <a name="l00175"></a>00175 <a class="code" href="structErrorBytes.html">ErrorBytes</a> error; <a name="l00176"></a>00176 <a name="l00177"></a>00177 <span class="keywordtype">void</span> PrintErrorMsg(<span class="keywordtype">void</span>); <a name="l00178"></a>00178 <a name="l00179"></a>00179 <span class="keywordtype">int</span> ReadFromNav200(<span class="keywordtype">int</span> timeout_usec=5000000); <a name="l00180"></a>00180 <span class="keywordtype">int</span> WriteCommand(<span class="keywordtype">char</span> mode, <span class="keywordtype">char</span> function, <span class="keywordtype">int</span> dataLength, uint8_t * data); <a name="l00181"></a>00181 uint8_t CreateCRC(uint8_t* data, ssize_t len); <a name="l00182"></a>00182 <a name="l00183"></a>00183 <span class="comment">// SickNav200 Driver info</span> <a name="l00184"></a>00184 <a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a> *sn200; <a name="l00185"></a>00185 <a name="l00186"></a>00186 <span class="comment">// Opaque info - for setting filter</span> <a name="l00187"></a>00187 <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> *opaque; <a name="l00188"></a>00188 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> opaque_id; <a name="l00189"></a>00189 <a name="l00190"></a>00190 }; <a name="l00191"></a>00191 <a name="l00192"></a>00192 <a name="l00193"></a>00193 <a name="l00194"></a>00194 <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>