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<h1>Nclient.h</h1> </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* </span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (C) 1991-2000 Nomadic Technologies</span>
<a name="l00003"></a>00003 <span class="comment"> *</span>
<a name="l00004"></a>00004 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00005"></a>00005 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00006"></a>00006 <span class="comment"> * the Free Software Foundation; either version 2, or (at your option) </span>
<a name="l00007"></a>00007 <span class="comment"> * any later version.</span>
<a name="l00008"></a>00008 <span class="comment"> * </span>
<a name="l00009"></a>00009 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00010"></a>00010 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of </span>
<a name="l00011"></a>00011 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the </span>
<a name="l00012"></a>00012 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00013"></a>00013 <span class="comment"> * </span>
<a name="l00014"></a>00014 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00015"></a>00015 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00016"></a>00016 <span class="comment"> * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA </span>
<a name="l00017"></a>00017 <span class="comment"> * 02111-1307, USA.</span>
<a name="l00018"></a>00018 <span class="comment"> */</span>
<a name="l00019"></a>00019
<a name="l00020"></a>00020 <span class="comment">/*</span>
<a name="l00021"></a>00021 <span class="comment"> * Nclient.h</span>
<a name="l00022"></a>00022 <span class="comment"> *</span>
<a name="l00023"></a>00023 <span class="comment"> * Interface file for direct connections to the robot or for</span>
<a name="l00024"></a>00024 <span class="comment"> * connections to Nserver.</span>
<a name="l00025"></a>00025 <span class="comment"> */</span>
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="comment">/*</span>
<a name="l00028"></a>00028 <span class="comment"> * $Log: Nclient.h,v $</span>
<a name="l00029"></a>00029 <span class="comment"> * Revision 1.1.1.1 2001/08/23 19:05:14 bananajr</span>
<a name="l00030"></a>00030 <span class="comment"> * initial commit</span>
<a name="l00031"></a>00031 <span class="comment"> *</span>
<a name="l00032"></a>00032 <span class="comment"> */</span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#ifndef _HOST_CLIENT_NCLIENT_H_</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define _HOST_CLIENT_NCLIENT_H_</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00039"></a>00039 <span class="preprocessor">#endif</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a>00041 <span class="comment">/* constants */</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="preprocessor">#ifndef FALSE</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#define FALSE 0</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#ifndef TRUE</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define TRUE 1</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">#ifndef NULL</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#define NULL 0</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#define MAX_VERTICES 10</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#define NUM_STATE 45</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define NUM_MASK 44 </span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define NUM_LASER 482 </span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define BUFSIZE 4096</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define MAX_USER_BUF 0xFFFF</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span>
<a name="l00059"></a>00059 <span class="comment">/* Robot models. */</span>
<a name="l00060"></a>00060 <span class="preprocessor">#define MODEL_N200 0</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">#define MODEL_N150 1</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#define MODEL_SCOUT 2</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define MODEL_SCOUT2 2</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00065"></a>00065 <span class="comment">/* the number of sonars and infrareds */</span>
<a name="l00066"></a>00066 <span class="preprocessor">#define SONARS 16</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#define INFRAREDS 16</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span>
<a name="l00069"></a>00069 <span class="comment">/*</span>
<a name="l00070"></a>00070 <span class="comment"> * The following defines allow you to access the State vector in a </span>
<a name="l00071"></a>00071 <span class="comment"> * more readable way.</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="preprocessor">#define STATE_SIM_SPEED 0</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span>
<a name="l00076"></a>00076 <span class="preprocessor">#define STATE_IR_0 1</span>
<a name="l00077"></a>00077 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_1 2</span>
<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_2 3</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_3 4</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_4 5</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_5 6</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_6 7</span>
<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_7 8</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_8 9</span>
<a name="l00085"></a>00085 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_9 10</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_10 11</span>
<a name="l00087"></a>00087 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_11 12</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_12 13</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_13 14</span>
<a name="l00090"></a>00090 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_14 15</span>
<a name="l00091"></a>00091 <span class="preprocessor"></span><span class="preprocessor">#define STATE_IR_15 16</span>
<a name="l00092"></a>00092 <span class="preprocessor"></span>
<a name="l00093"></a>00093 <span class="preprocessor">#define STATE_SONAR_0 17</span>
<a name="l00094"></a>00094 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_1 18</span>
<a name="l00095"></a>00095 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_2 19</span>
<a name="l00096"></a>00096 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_3 20</span>
<a name="l00097"></a>00097 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_4 21</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_5 22</span>
<a name="l00099"></a>00099 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_6 23</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_7 24</span>
<a name="l00101"></a>00101 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_8 25</span>
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_9 26</span>
<a name="l00103"></a>00103 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_10 27</span>
<a name="l00104"></a>00104 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_11 28</span>
<a name="l00105"></a>00105 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_12 29</span>
<a name="l00106"></a>00106 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_13 30</span>
<a name="l00107"></a>00107 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_14 31</span>
<a name="l00108"></a>00108 <span class="preprocessor"></span><span class="preprocessor">#define STATE_SONAR_15 32</span>
<a name="l00109"></a>00109 <span class="preprocessor"></span>
<a name="l00110"></a>00110 <span class="preprocessor">#define STATE_BUMPER 33</span>
<a name="l00111"></a>00111 <span class="preprocessor"></span><span class="preprocessor">#define STATE_CONF_X 34</span>
<a name="l00112"></a>00112 <span class="preprocessor"></span><span class="preprocessor">#define STATE_CONF_Y 35</span>
<a name="l00113"></a>00113 <span class="preprocessor"></span><span class="preprocessor">#define STATE_CONF_STEER 36</span>
<a name="l00114"></a>00114 <span class="preprocessor"></span><span class="preprocessor">#define STATE_CONF_TURRET 37</span>
<a name="l00115"></a>00115 <span class="preprocessor"></span><span class="preprocessor">#define STATE_VEL_TRANS 38</span>
<a name="l00116"></a>00116 <span class="preprocessor"></span><span class="preprocessor">#define STATE_VEL_RIGHT 38 </span><span class="comment">/* for scout */</span>
<a name="l00117"></a>00117 <span class="preprocessor">#define STATE_VEL_STEER 39</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span><span class="preprocessor">#define STATE_VEL_LEFT 39 </span><span class="comment">/* for scout */</span>
<a name="l00119"></a>00119 <span class="preprocessor">#define STATE_VEL_TURRET 40</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span><span class="preprocessor">#define STATE_MOTOR_STATUS 41</span>
<a name="l00121"></a>00121 <span class="preprocessor"></span><span class="preprocessor">#define STATE_LASER 42</span>
<a name="l00122"></a>00122 <span class="preprocessor"></span><span class="preprocessor">#define STATE_COMPASS 43</span>
<a name="l00123"></a>00123 <span class="preprocessor"></span><span class="preprocessor">#define STATE_ERROR 44</span>
<a name="l00124"></a>00124 <span class="preprocessor"></span>
<a name="l00125"></a>00125 <span class="comment">/*</span>
<a name="l00126"></a>00126 <span class="comment"> * The following defines allow you to access the Smask vector in a </span>
<a name="l00127"></a>00127 <span class="comment"> * more readable way.</span>
<a name="l00128"></a>00128 <span class="comment"> */</span>
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="preprocessor">#define SMASK_POS_DATA 0</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span>
<a name="l00132"></a>00132 <span class="preprocessor">#define SMASK_IR_1 1</span>
<a name="l00133"></a>00133 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_2 2</span>
<a name="l00134"></a>00134 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_3 3</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_4 4</span>
<a name="l00136"></a>00136 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_5 5</span>
<a name="l00137"></a>00137 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_6 6</span>
<a name="l00138"></a>00138 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_7 7</span>
<a name="l00139"></a>00139 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_8 8</span>
<a name="l00140"></a>00140 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_9 9</span>
<a name="l00141"></a>00141 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_10 10</span>
<a name="l00142"></a>00142 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_11 11</span>
<a name="l00143"></a>00143 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_12 12</span>
<a name="l00144"></a>00144 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_13 13</span>
<a name="l00145"></a>00145 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_14 14</span>
<a name="l00146"></a>00146 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_15 15</span>
<a name="l00147"></a>00147 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_IR_16 16</span>
<a name="l00148"></a>00148 <span class="preprocessor"></span>
<a name="l00149"></a>00149 <span class="preprocessor">#define SMASK_SONAR_1 17</span>
<a name="l00150"></a>00150 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_2 18</span>
<a name="l00151"></a>00151 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_3 19</span>
<a name="l00152"></a>00152 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_4 20</span>
<a name="l00153"></a>00153 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_5 21</span>
<a name="l00154"></a>00154 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_6 22</span>
<a name="l00155"></a>00155 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_7 23</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_8 24</span>
<a name="l00157"></a>00157 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_9 25</span>
<a name="l00158"></a>00158 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_10 26</span>
<a name="l00159"></a>00159 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_11 27</span>
<a name="l00160"></a>00160 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_12 28</span>
<a name="l00161"></a>00161 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_13 29</span>
<a name="l00162"></a>00162 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_14 30</span>
<a name="l00163"></a>00163 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_15 31</span>
<a name="l00164"></a>00164 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_SONAR_16 32</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span>
<a name="l00166"></a>00166 <span class="preprocessor">#define SMASK_BUMPER 33</span>
<a name="l00167"></a>00167 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_CONF_X 34</span>
<a name="l00168"></a>00168 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_CONF_Y 35</span>
<a name="l00169"></a>00169 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_CONF_STEER 36</span>
<a name="l00170"></a>00170 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_CONF_TURRET 37</span>
<a name="l00171"></a>00171 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_VEL_TRANS 38</span>
<a name="l00172"></a>00172 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_VEL_STEER 39</span>
<a name="l00173"></a>00173 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_VEL_TURRET 40</span>
<a name="l00174"></a>00174 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_RESERVED 41</span>
<a name="l00175"></a>00175 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_LASER 42</span>
<a name="l00176"></a>00176 <span class="preprocessor"></span><span class="preprocessor">#define SMASK_COMPASS 43</span>
<a name="l00177"></a>00177 <span class="preprocessor"></span>
<a name="l00178"></a>00178 <span class="comment">/*</span>
<a name="l00179"></a>00179 <span class="comment"> * These defines are used for specifying the control modes in the</span>
<a name="l00180"></a>00180 <span class="comment"> * robot motion command 'mv'. If MV_IGNORE is specified for an axis</span>
<a name="l00181"></a>00181 <span class="comment"> * the current motion command for it will remain active. Specifying</span>
<a name="l00182"></a>00182 <span class="comment"> * MV_VM or MV_PR will select velocity and position control as in </span>
<a name="l00183"></a>00183 <span class="comment"> * the vm and pr robot motion commands </span>
<a name="l00184"></a>00184 <span class="comment"> */</span>
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="preprocessor">#define MV_IGNORE 0</span>
<a name="l00187"></a>00187 <span class="preprocessor"></span><span class="preprocessor">#define MV_VM 1 </span><span class="comment">/* velocity mode */</span>
<a name="l00188"></a>00188 <span class="preprocessor">#define MV_PR 2 </span><span class="comment">/* position relative mode */</span>
<a name="l00189"></a>00189 <span class="preprocessor">#define MV_LP 3 </span><span class="comment">/* limp mode */</span>
<a name="l00190"></a>00190 <span class="preprocessor">#define MV_AC 4 </span><span class="comment">/* set acceleration for vm, pr, pa modes*/</span>
<a name="l00191"></a>00191 <span class="preprocessor">#define MV_SP 5 </span><span class="comment">/* set velocity for pr, pa modes */</span>
<a name="l00192"></a>00192 <span class="preprocessor">#define MV_PA 6 </span><span class="comment">/* position absolute mode */</span>
<a name="l00193"></a>00193 <span class="preprocessor">#define MV_TQ 7 </span><span class="comment">/* torque mode */</span>
<a name="l00194"></a>00194 <span class="preprocessor">#define MV_MT 8 </span><span class="comment">/* set maximum torque for vm, pr, pa, tq modes */</span>
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="comment">/*</span>
<a name="l00197"></a>00197 <span class="comment"> * zeroing modes for arm</span>
<a name="l00198"></a>00198 <span class="comment"> */</span>
<a name="l00199"></a>00199
<a name="l00200"></a>00200 <span class="preprocessor">#define ZR_CHECK 1</span>
<a name="l00201"></a>00201 <span class="preprocessor"></span><span class="preprocessor">#define ZR_ORIENT 2</span>
<a name="l00202"></a>00202 <span class="preprocessor"></span><span class="preprocessor">#define ZR_NO_N_GRIPPER 4</span>
<a name="l00203"></a>00203 <span class="preprocessor"></span>
<a name="l00204"></a>00204 <span class="comment">/* </span>
<a name="l00205"></a>00205 <span class="comment"> * user packet constants for arm </span>
<a name="l00206"></a>00206 <span class="comment"> */</span>
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="preprocessor">#define ARM_ZR 40</span>
<a name="l00209"></a>00209 <span class="preprocessor"></span><span class="preprocessor">#define ARM_WS 41</span>
<a name="l00210"></a>00210 <span class="preprocessor"></span><span class="preprocessor">#define ARM_MV 42</span>
<a name="l00211"></a>00211 <span class="preprocessor"></span>
<a name="l00212"></a>00212 <span class="comment">/*</span>
<a name="l00213"></a>00213 <span class="comment"> * function prototypes for arm</span>
<a name="l00214"></a>00214 <span class="comment"> */</span>
<a name="l00215"></a>00215 <span class="keywordtype">long</span> arm_mv(<span class="keywordtype">long</span> l_mode, <span class="keywordtype">long</span> l_v, <span class="keywordtype">long</span> g_mode, <span class="keywordtype">long</span> g_v);
<a name="l00216"></a>00216 <span class="keywordtype">long</span> arm_ws(<span class="keywordtype">short</span> lift, <span class="keywordtype">short</span> grip, <span class="keywordtype">long</span> timeout, <span class="keywordtype">long</span> *time_remain);
<a name="l00217"></a>00217 <span class="keywordtype">long</span> arm_zr(<span class="keywordtype">short</span> mode);
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="comment">/*</span>
<a name="l00220"></a>00220 <span class="comment"> * For requesting the PosData the following defines should be used.</span>
<a name="l00221"></a>00221 <span class="comment"> * Each sensor has a bit, if it is set the pos-data is attached</span>
<a name="l00222"></a>00222 <span class="comment"> * when the sensory data is returned.</span>
<a name="l00223"></a>00223 <span class="comment"> */</span>
<a name="l00224"></a>00224
<a name="l00225"></a>00225 <span class="preprocessor">#define POS_NONE ( 0 << 0 )</span>
<a name="l00226"></a>00226 <span class="preprocessor"></span><span class="preprocessor">#define POS_INFRARED ( 1 << 0 )</span>
<a name="l00227"></a>00227 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR ( 1 << 1 )</span>
<a name="l00228"></a>00228 <span class="preprocessor"></span><span class="preprocessor">#define POS_BUMPER ( 1 << 2 )</span>
<a name="l00229"></a>00229 <span class="preprocessor"></span><span class="preprocessor">#define POS_LASER ( 1 << 3 )</span>
<a name="l00230"></a>00230 <span class="preprocessor"></span><span class="preprocessor">#define POS_COMPASS ( 1 << 4 )</span>
<a name="l00231"></a>00231 <span class="preprocessor"></span>
<a name="l00232"></a>00232 <span class="comment">/* </span>
<a name="l00233"></a>00233 <span class="comment"> * these macros enable the user to determine if the pos-attachment</span>
<a name="l00234"></a>00234 <span class="comment"> * is requested for a specific sensor. 1 is returned if the </span>
<a name="l00235"></a>00235 <span class="comment"> * attachment is requested, 0 otherwise</span>
<a name="l00236"></a>00236 <span class="comment"> * </span>
<a name="l00237"></a>00237 <span class="comment"> * Note that the function posDataCheck() is called (see below)</span>
<a name="l00238"></a>00238 <span class="comment"> */</span>
<a name="l00239"></a>00239
<a name="l00240"></a>00240 <span class="preprocessor">#define POS_INFRARED_P ( ( (posDataCheck()) & POS_INFRARED ) ? 1 : 0 )</span>
<a name="l00241"></a>00241 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_P ( ( (posDataCheck()) & POS_SONAR ) ? 1 : 0 )</span>
<a name="l00242"></a>00242 <span class="preprocessor"></span><span class="preprocessor">#define POS_BUMPER_P ( ( (posDataCheck()) & POS_BUMPER ) ? 1 : 0 )</span>
<a name="l00243"></a>00243 <span class="preprocessor"></span><span class="preprocessor">#define POS_LASER_P ( ( (posDataCheck()) & POS_LASER ) ? 1 : 0 )</span>
<a name="l00244"></a>00244 <span class="preprocessor"></span><span class="preprocessor">#define POS_COMPASS_P ( ( (posDataCheck()) & POS_COMPASS ) ? 1 : 0 )</span>
<a name="l00245"></a>00245 <span class="preprocessor"></span>
<a name="l00246"></a>00246 <span class="comment">/*</span>
<a name="l00247"></a>00247 <span class="comment"> * The user will be able to call a function that fills out a </span>
<a name="l00248"></a>00248 <span class="comment"> * list of position data for a specific sensor reading. </span>
<a name="l00249"></a>00249 <span class="comment"> * To access the sensors in that structure the following defines </span>
<a name="l00250"></a>00250 <span class="comment"> * should be used. They should also be used if data for a single</span>
<a name="l00251"></a>00251 <span class="comment"> * infrared sensor / sonar is requested.</span>
<a name="l00252"></a>00252 <span class="comment"> */</span>
<a name="l00253"></a>00253
<a name="l00254"></a>00254 <span class="preprocessor">#define POS_IR_1 0</span>
<a name="l00255"></a>00255 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_2 1</span>
<a name="l00256"></a>00256 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_3 2</span>
<a name="l00257"></a>00257 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_4 3</span>
<a name="l00258"></a>00258 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_5 4</span>
<a name="l00259"></a>00259 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_6 5</span>
<a name="l00260"></a>00260 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_7 6 </span>
<a name="l00261"></a>00261 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_8 7</span>
<a name="l00262"></a>00262 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_9 8</span>
<a name="l00263"></a>00263 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_10 9</span>
<a name="l00264"></a>00264 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_11 10</span>
<a name="l00265"></a>00265 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_12 11</span>
<a name="l00266"></a>00266 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_13 12</span>
<a name="l00267"></a>00267 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_14 13</span>
<a name="l00268"></a>00268 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_15 14</span>
<a name="l00269"></a>00269 <span class="preprocessor"></span><span class="preprocessor">#define POS_IR_16 15</span>
<a name="l00270"></a>00270 <span class="preprocessor"></span>
<a name="l00271"></a>00271 <span class="preprocessor">#define POS_SONAR_1 0</span>
<a name="l00272"></a>00272 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_2 1</span>
<a name="l00273"></a>00273 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_3 2</span>
<a name="l00274"></a>00274 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_4 3</span>
<a name="l00275"></a>00275 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_5 4</span>
<a name="l00276"></a>00276 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_6 5 </span>
<a name="l00277"></a>00277 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_7 6 </span>
<a name="l00278"></a>00278 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_8 7</span>
<a name="l00279"></a>00279 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_9 8</span>
<a name="l00280"></a>00280 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_10 9</span>
<a name="l00281"></a>00281 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_11 10</span>
<a name="l00282"></a>00282 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_12 11</span>
<a name="l00283"></a>00283 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_13 12</span>
<a name="l00284"></a>00284 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_14 13</span>
<a name="l00285"></a>00285 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_15 14</span>
<a name="l00286"></a>00286 <span class="preprocessor"></span><span class="preprocessor">#define POS_SONAR_16 15</span>
<a name="l00287"></a>00287 <span class="preprocessor"></span>
<a name="l00288"></a>00288
<a name="l00289"></a>00289 <span class="comment">/* Define the length of the user buffer (Maximal short).</span>
<a name="l00290"></a>00290 <span class="comment"> * Due to Protocol bytes, the effective length is 65526 </span>
<a name="l00291"></a>00291 <span class="comment"> */</span>
<a name="l00292"></a>00292 <span class="preprocessor">#define USER_BUFFER_LENGTH 0xFFFF</span>
<a name="l00293"></a>00293 <span class="preprocessor"></span>
<a name="l00294"></a>00294
<a name="l00295"></a>00295 <span class="comment">/* these definitions apply to the Scout and SuperScout */</span>
<a name="l00296"></a>00296 <span class="preprocessor">#define ROTATION_CONSTANT 0.118597 </span><span class="comment">/* inches/degree (known to 100 ppm) */</span>
<a name="l00297"></a>00297
<a name="l00298"></a>00298 <span class="preprocessor">#define RIGHT(trans, steer) (trans + (int)((float)steer*ROTATION_CONSTANT))</span>
<a name="l00299"></a>00299 <span class="preprocessor"></span><span class="preprocessor">#define LEFT(trans, steer) (trans - (int)((float)steer*ROTATION_CONSTANT))</span>
<a name="l00300"></a>00300 <span class="preprocessor"></span>
<a name="l00301"></a>00301 <span class="preprocessor">#define scout_vm(trans, steer) vm(RIGHT(trans, steer), LEFT(trans, steer), 0)</span>
<a name="l00302"></a>00302 <span class="preprocessor"></span>
<a name="l00303"></a>00303 <span class="comment">/********************</span>
<a name="l00304"></a>00304 <span class="comment"> * *</span>
<a name="l00305"></a>00305 <span class="comment"> * Type definitions *</span>
<a name="l00306"></a>00306 <span class="comment"> * *</span>
<a name="l00307"></a>00307 <span class="comment"> ********************/</span>
<a name="l00308"></a>00308
<a name="l00309"></a>00309 <span class="comment">/*</span>
<a name="l00310"></a>00310 <span class="comment"> * The following type definitions are used for the PosData.</span>
<a name="l00311"></a>00311 <span class="comment"> * PosData is an information packet that is attached to </span>
<a name="l00312"></a>00312 <span class="comment"> * each sensor reading, if requested. Note that the use of </span>
<a name="l00313"></a>00313 <span class="comment"> * PosData could cause compatibility problems when different</span>
<a name="l00314"></a>00314 <span class="comment"> * releases of the software are used on the robot and on the</span>
<a name="l00315"></a>00315 <span class="comment"> * server side. </span>
<a name="l00316"></a>00316 <span class="comment"> *</span>
<a name="l00317"></a>00317 <span class="comment"> * The information packet can be used to determine how up-to-date</span>
<a name="l00318"></a>00318 <span class="comment"> * a sensory reading is. It contains the configuration of the robot.</span>
<a name="l00319"></a>00319 <span class="comment"> * This is the most updated configuration at the time of the sensor</span>
<a name="l00320"></a>00320 <span class="comment"> * reading. However, it is possible that the sensory reading</span>
<a name="l00321"></a>00321 <span class="comment"> * was taken after the integration of the coniguration.</span>
<a name="l00322"></a>00322 <span class="comment"> * To determine the interval that has passed two timestamps are in-</span>
<a name="l00323"></a>00323 <span class="comment"> * cluded in this information package: a timestamp for the computation</span>
<a name="l00324"></a>00324 <span class="comment"> * of the configuration and another timestamp for the actual capturing</span>
<a name="l00325"></a>00325 <span class="comment"> * of the senor reading.</span>
<a name="l00326"></a>00326 <span class="comment"> *</span>
<a name="l00327"></a>00327 <span class="comment"> * The timestamps are in milliseconds of the internal clock of the </span>
<a name="l00328"></a>00328 <span class="comment"> * board that handles the sensors (Intellisys 100 sensor-board).</span>
<a name="l00329"></a>00329 <span class="comment"> */</span>
<a name="l00330"></a>00330
<a name="l00331"></a>00331 <span class="comment">/*</span>
<a name="l00332"></a>00332 <span class="comment"> * TimeData contains the current time of the Intellisys 100 </span>
<a name="l00333"></a>00333 <span class="comment"> * in milliseconds</span>
<a name="l00334"></a>00334 <span class="comment"> */</span>
<a name="l00335"></a>00335
<a name="l00336"></a>00336 <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> TimeData;
<a name="l00337"></a>00337
<a name="l00338"></a>00338 <span class="comment">/*</span>
<a name="l00339"></a>00339 <span class="comment"> * ConfigData is where the i486 writes the current configuration</span>
<a name="l00340"></a>00340 <span class="comment"> * of the robot, so that the Intellisys 100 can attach current</span>
<a name="l00341"></a>00341 <span class="comment"> * integration values to the sensor readings.</span>
<a name="l00342"></a>00342 <span class="comment"> * It is also used inside of the Pos data.</span>
<a name="l00343"></a>00343 <span class="comment"> */</span>
<a name="l00344"></a>00344
<a name="l00345"></a><a class="code" href="struct__ConfigData.html">00345</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__ConfigData.html">_ConfigData</a>
<a name="l00346"></a>00346 {
<a name="l00347"></a>00347 <span class="comment">/* the configuration of the robot */</span>
<a name="l00348"></a>00348 <span class="keywordtype">long</span> configX;
<a name="l00349"></a>00349 <span class="keywordtype">long</span> configY;
<a name="l00350"></a>00350 <span class="keywordtype">long</span> configSteer;
<a name="l00351"></a>00351 <span class="keywordtype">long</span> configTurret;
<a name="l00352"></a>00352
<a name="l00353"></a>00353 <span class="comment">/* the velocities of the robot*/</span>
<a name="l00354"></a>00354 <span class="keywordtype">long</span> velTrans;
<a name="l00355"></a>00355 <span class="keywordtype">long</span> velSteer;
<a name="l00356"></a>00356 <span class="keywordtype">long</span> velTurret;
<a name="l00357"></a>00357
<a name="l00358"></a>00358 <span class="comment">/* time of integration in milliseconds (Intellisys 100 time) */</span>
<a name="l00359"></a>00359 TimeData timeStamp;
<a name="l00360"></a>00360
<a name="l00361"></a>00361 } <a class="code" href="struct__ConfigData.html">ConfigData</a>;
<a name="l00362"></a>00362
<a name="l00363"></a>00363
<a name="l00364"></a>00364 <span class="comment">/* </span>
<a name="l00365"></a>00365 <span class="comment"> * PosData contains information that is attached to a sensor</span>
<a name="l00366"></a>00366 <span class="comment"> * reading in order to determine how recent it is.</span>
<a name="l00367"></a>00367 <span class="comment"> */</span>
<a name="l00368"></a>00368
<a name="l00369"></a><a class="code" href="struct__PosData.html">00369</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__PosData.html">_PosData</a>
<a name="l00370"></a>00370 {
<a name="l00371"></a>00371 <span class="comment">/* the configuration of the robot at the time of the reading */</span>
<a name="l00372"></a>00372 <a class="code" href="struct__ConfigData.html">ConfigData</a> config;
<a name="l00373"></a>00373
<a name="l00374"></a>00374 <span class="comment">/* the time of the sensing in milliseconds (Intellisys 100 time) */</span>
<a name="l00375"></a>00375 TimeData timeStamp;
<a name="l00376"></a>00376
<a name="l00377"></a>00377 } <a class="code" href="struct__PosData.html">PosData</a>;
<a name="l00378"></a>00378
<a name="l00379"></a>00379 <span class="comment">/* these type definitions are for user defined package processing */</span>
<a name="l00380"></a>00380
<a name="l00381"></a><a class="code" href="uniondouble__union.html">00381</a> <span class="keyword">typedef</span> <span class="keyword">union</span>
<a name="l00382"></a>00382 {
<a name="l00383"></a>00383 <span class="keywordtype">char</span> bytes[8];
<a name="l00384"></a>00384 <span class="keywordtype">double</span> data;
<a name="l00385"></a>00385 } <a class="code" href="uniondouble__union.html">double_union</a>;
<a name="l00386"></a>00386
<a name="l00387"></a><a class="code" href="unionlong__union.html">00387</a> <span class="keyword">typedef</span> <span class="keyword">union</span>
<a name="l00388"></a>00388 {
<a name="l00389"></a>00389 <span class="keywordtype">char</span> bytes[4];
<a name="l00390"></a>00390 <span class="keywordtype">short</span> words[2];
<a name="l00391"></a>00391 <span class="keywordtype">long</span> data;
<a name="l00392"></a>00392 } <a class="code" href="unionlong__union.html">long_union</a>;
<a name="l00393"></a>00393
<a name="l00394"></a><a class="code" href="unionshort__union.html">00394</a> <span class="keyword">typedef</span> <span class="keyword">union</span>
<a name="l00395"></a>00395 {
<a name="l00396"></a>00396 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bytes[2];
<a name="l00397"></a>00397 <span class="keywordtype">short</span> data;
<a name="l00398"></a>00398 } <a class="code" href="unionshort__union.html">short_union</a>;
<a name="l00399"></a>00399
<a name="l00400"></a><a class="code" href="unionushort__union.html">00400</a> <span class="keyword">typedef</span> <span class="keyword">union</span>
<a name="l00401"></a>00401 {
<a name="l00402"></a>00402 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bytes[2];
<a name="l00403"></a>00403 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> data;
<a name="l00404"></a>00404 } <a class="code" href="unionushort__union.html">ushort_union</a>;
<a name="l00405"></a>00405
<a name="l00406"></a><a class="code" href="unionulong__union.html">00406</a> <span class="keyword">typedef</span> <span class="keyword">union</span>
<a name="l00407"></a>00407 {
<a name="l00408"></a>00408 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bytes[4];
<a name="l00409"></a>00409 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> words[2];
<a name="l00410"></a>00410 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> data;
<a name="l00411"></a>00411 } <a class="code" href="unionulong__union.html">ulong_union</a>;
<a name="l00412"></a>00412
<a name="l00413"></a><a class="code" href="structrequest__struct.html">00413</a> <span class="keyword">struct </span><a class="code" href="structrequest__struct.html">request_struct</a>
<a name="l00414"></a>00414 {
<a name="l00415"></a>00415 <span class="keywordtype">short</span> type;
<a name="l00416"></a>00416 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> size;
<a name="l00417"></a>00417 <span class="keywordtype">long</span> mesg[USER_BUFFER_LENGTH];
<a name="l00418"></a>00418 };
<a name="l00419"></a>00419
<a name="l00420"></a><a class="code" href="structreply__struct.html">00420</a> <span class="keyword">struct </span><a class="code" href="structreply__struct.html">reply_struct</a>
<a name="l00421"></a>00421 {
<a name="l00422"></a>00422 <span class="keywordtype">short</span> type;
<a name="l00423"></a>00423 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> size;
<a name="l00424"></a>00424 <span class="keywordtype">long</span> mesg[USER_BUFFER_LENGTH];
<a name="l00425"></a>00425 };
<a name="l00426"></a>00426
<a name="l00427"></a>00427 <span class="comment">/********************</span>
<a name="l00428"></a>00428 <span class="comment"> * *</span>
<a name="l00429"></a>00429 <span class="comment"> * Global Variables *</span>
<a name="l00430"></a>00430 <span class="comment"> * *</span>
<a name="l00431"></a>00431 <span class="comment"> ********************/</span>
<a name="l00432"></a>00432
<a name="l00433"></a>00433 <span class="comment">/* The State vector is an array of 45 long integers:</span>
<a name="l00434"></a>00434 <span class="comment"> *</span>
<a name="l00435"></a>00435 <span class="comment"> * State[0] - stores actual simulation speed with 10 being realtime </span>
<a name="l00436"></a>00436 <span class="comment"> * (20 meaning twice as fast as realtime and 5 meaning half the </span>
<a name="l00437"></a>00437 <span class="comment"> * speed of realtime).</span>
<a name="l00438"></a>00438 <span class="comment"> * State[1 ... 16] - stores the 16 infrared data.</span>
<a name="l00439"></a>00439 <span class="comment"> * State[17 ... 32] - stores the 16 sonar data.</span>
<a name="l00440"></a>00440 <span class="comment"> * State[33] - stores bumper data</span>
<a name="l00441"></a>00441 <span class="comment"> * State[34 ... 37] - stores robot configuration</span>
<a name="l00442"></a>00442 <span class="comment"> * State[38 ... 40] - stores robot's current velocities</span>
<a name="l00443"></a>00443 <span class="comment"> * State[41] - motor status: the lowest bit is set to 1 if the translational</span>
<a name="l00444"></a>00444 <span class="comment"> * motor is active; the second lowest bit is set to 1 if the </span>
<a name="l00445"></a>00445 <span class="comment"> * steering motor is active; the third lowest bit is set to 1 if </span>
<a name="l00446"></a>00446 <span class="comment"> * the turret motor is active.</span>
<a name="l00447"></a>00447 <span class="comment"> * State[42] - laser mode: the mode of the laser.</span>
<a name="l00448"></a>00448 <span class="comment"> * State[43] - compass value.</span>
<a name="l00449"></a>00449 <span class="comment"> * State[44] - error number.</span>
<a name="l00450"></a>00450 <span class="comment"> */</span>
<a name="l00451"></a>00451 <span class="keyword">extern</span> <span class="keywordtype">long</span> State[NUM_STATE];
<a name="l00452"></a>00452
<a name="l00453"></a>00453 <span class="comment">/* The Smask vector is an array of 44 integers:</span>
<a name="l00454"></a>00454 <span class="comment"> *</span>
<a name="l00455"></a>00455 <span class="comment"> * Smask[0] - used for the posData attachment to sensory data</span>
<a name="l00456"></a>00456 <span class="comment"> * Smask[1 ... 16] - infrared mask</span>
<a name="l00457"></a>00457 <span class="comment"> * Smask[17 ... 32] - sonar mask</span>
<a name="l00458"></a>00458 <span class="comment"> * Smask[33] - bumper mask</span>
<a name="l00459"></a>00459 <span class="comment"> * Smask[34 ... 37] - configuration mask</span>
<a name="l00460"></a>00460 <span class="comment"> * Smask[38 ... 40] - velocity mask</span>
<a name="l00461"></a>00461 <span class="comment"> * Smask[41] - irrelevant.</span>
<a name="l00462"></a>00462 <span class="comment"> * Smask[42] - laser mask</span>
<a name="l00463"></a>00463 <span class="comment"> * Smask[43] - compass mask</span>
<a name="l00464"></a>00464 <span class="comment"> */</span>
<a name="l00465"></a>00465 <span class="keyword">extern</span> <span class="keywordtype">int</span> Smask[NUM_MASK];
<a name="l00466"></a>00466
<a name="l00467"></a>00467 <span class="comment">/* Mask is now just a pointer to Smask. This is because Mask is a declared</span>
<a name="l00468"></a>00468 <span class="comment"> * variable in X11 library. So if you are not using X11, you can uncomment</span>
<a name="l00469"></a>00469 <span class="comment"> * the following line and keep using Mask as before. However, if you want</span>
<a name="l00470"></a>00470 <span class="comment"> * to use X11 graphic in your application program, you can simply use Smask</span>
<a name="l00471"></a>00471 <span class="comment"> * instead. </span>
<a name="l00472"></a>00472 <span class="comment"> */</span>
<a name="l00473"></a>00473 <span class="comment">/* static int *Mask = Smask; */</span>
<a name="l00474"></a>00474
<a name="l00475"></a>00475 <span class="comment">/* The Laser vector is an array of 965 elements. The Laser vector</span>
<a name="l00476"></a>00476 <span class="comment"> * can contain laser data in one of the three formats: pixel, point, or line.</span>
<a name="l00477"></a>00477 <span class="comment"> *</span>
<a name="l00478"></a>00478 <span class="comment"> * In pixel mode (not available in simulation, Laser[0] keeps the number of </span>
<a name="l00479"></a>00479 <span class="comment"> * pixels in the Laser vector. The can be a maximum of 482 pixels.</span>
<a name="l00480"></a>00480 <span class="comment"> *</span>
<a name="l00481"></a>00481 <span class="comment"> * In point mode, Laser[0] keeps the number of points. Each point is </span>
<a name="l00482"></a>00482 <span class="comment"> * specified y the two numbers: the x and y coordinates of the point in </span>
<a name="l00483"></a>00483 <span class="comment"> * the robot's local coordinate. There can be a maximum of 482 points </span>
<a name="l00484"></a>00484 <span class="comment"> * (thus 964 numbers).</span>
<a name="l00485"></a>00485 <span class="comment"> *</span>
<a name="l00486"></a>00486 <span class="comment"> * In line mode, Laser[0] keeps the number of lines. Each line segment is </span>
<a name="l00487"></a>00487 <span class="comment"> * specified by its two end points and each end point is specified by its </span>
<a name="l00488"></a>00488 <span class="comment"> * x and y coordinates in the robot's local coordinate. There can be a </span>
<a name="l00489"></a>00489 <span class="comment"> * maximum of 241 points. </span>
<a name="l00490"></a>00490 <span class="comment"> */</span>
<a name="l00491"></a>00491 <span class="keyword">extern</span> <span class="keywordtype">int</span> Laser[2*NUM_LASER+1];
<a name="l00492"></a>00492
<a name="l00493"></a>00493 <span class="comment">/* If linking the application program with Nclient.o, it will connect </span>
<a name="l00494"></a>00494 <span class="comment"> * to Nserver. To specify to which machine to connect and which port</span>
<a name="l00495"></a>00495 <span class="comment"> * to use the following variables can be redefined, otherwise default </span>
<a name="l00496"></a>00496 <span class="comment"> * values are used:</span>
<a name="l00497"></a>00497 <span class="comment"> * SERVER_MACHINE_NAME</span>
<a name="l00498"></a>00498 <span class="comment"> * SERV_TCP_PORT</span>
<a name="l00499"></a>00499 <span class="comment"> *</span>
<a name="l00500"></a>00500 <span class="comment"> * If linking the application program with Ndirect.o, it will connect</span>
<a name="l00501"></a>00501 <span class="comment"> * directly to the robot. To specify to which robot to connect and</span>
<a name="l00502"></a>00502 <span class="comment"> * which parameters to use for the connection the following variables</span>
<a name="l00503"></a>00503 <span class="comment"> * can be redefined, otherwise default vaues are used:</span>
<a name="l00504"></a>00504 <span class="comment"> * ROBOT_MACHINE_NAME</span>
<a name="l00505"></a>00505 <span class="comment"> * usually don't need to be changed:</span>
<a name="l00506"></a>00506 <span class="comment"> * CONN_TYPE</span>
<a name="l00507"></a>00507 <span class="comment"> * SERIAL_PORT</span>
<a name="l00508"></a>00508 <span class="comment"> * SERIAL_BAUD</span>
<a name="l00509"></a>00509 <span class="comment"> * ROBOT_TCP_PORT</span>
<a name="l00510"></a>00510 <span class="comment"> *</span>
<a name="l00511"></a>00511 <span class="comment"> * If an application program should run with Nclient.o and Ndirect.o</span>
<a name="l00512"></a>00512 <span class="comment"> * all of the above variables should be initialized.</span>
<a name="l00513"></a>00513 <span class="comment"> *</span>
<a name="l00514"></a>00514 <span class="comment"> * The concerend variables are define below.</span>
<a name="l00515"></a>00515 <span class="comment"> */</span>
<a name="l00516"></a>00516
<a name="l00517"></a>00517 <span class="comment">/* SERVER_MACHINE_NAME is the name of the machine where the server is </span>
<a name="l00518"></a>00518 <span class="comment"> * running. You should specify the server machine name in your</span>
<a name="l00519"></a>00519 <span class="comment"> * program if the server is running on a computer different from </span>
<a name="l00520"></a>00520 <span class="comment"> * where the client is running </span>
<a name="l00521"></a>00521 <span class="comment"> */</span>
<a name="l00522"></a>00522 <span class="keyword">extern</span> <span class="keywordtype">char</span> SERVER_MACHINE_NAME[80];
<a name="l00523"></a>00523
<a name="l00524"></a>00524 <span class="comment">/* SERV_TCP_PORT is an arbitrary port number the server listens to for </span>
<a name="l00525"></a>00525 <span class="comment"> * request of connection. It should be the same as that specified in the </span>
<a name="l00526"></a>00526 <span class="comment"> * world.setup file. You may modify this number and that in the world.setup </span>
<a name="l00527"></a>00527 <span class="comment"> * file to allow multiple servers running on the same machine. </span>
<a name="l00528"></a>00528 <span class="comment"> */</span>
<a name="l00529"></a>00529 <span class="keyword">extern</span> <span class="keywordtype">int</span> SERV_TCP_PORT;
<a name="l00530"></a>00530
<a name="l00531"></a>00531 <span class="comment">/* ROBOT_MACHINE_NAME is the name of the machine on the robot </span>
<a name="l00532"></a>00532 <span class="comment"> */</span>
<a name="l00533"></a>00533 <span class="keyword">extern</span> <span class="keywordtype">char</span> ROBOT_MACHINE_NAME[80];
<a name="l00534"></a>00534
<a name="l00535"></a>00535 <span class="comment">/* CONN_TYPE is the selection between using a serial port or a TCP/IP port.</span>
<a name="l00536"></a>00536 <span class="comment"> * If set to 1, serial port is used. If set to 2 (the default), TCP/IP port</span>
<a name="l00537"></a>00537 <span class="comment"> * is used. If set to any other value, connection will fail.</span>
<a name="l00538"></a>00538 <span class="comment"> */</span>
<a name="l00539"></a>00539 <span class="keyword">extern</span> <span class="keywordtype">int</span> CONN_TYPE;
<a name="l00540"></a>00540
<a name="l00541"></a>00541 <span class="comment">/* SERIAL_PORT is a string containing the filename of the serial port you</span>
<a name="l00542"></a>00542 <span class="comment"> * choose to communicate to the robot on. The default is "/dev/ttyS0".</span>
<a name="l00543"></a>00543 <span class="comment"> */</span>
<a name="l00544"></a>00544 <span class="keyword">extern</span> <span class="keywordtype">char</span> SERIAL_PORT[40];
<a name="l00545"></a>00545
<a name="l00546"></a>00546 <span class="comment">/* SERIAL_BAUD is the baud rate to set the serial communication to. It</span>
<a name="l00547"></a>00547 <span class="comment"> * defaults to 9600.</span>
<a name="l00548"></a>00548 <span class="comment"> */</span>
<a name="l00549"></a>00549 <span class="keyword">extern</span> <span class="keywordtype">int</span> SERIAL_BAUD;
<a name="l00550"></a>00550
<a name="l00551"></a>00551 <span class="comment">/* ROBOT_TCP_PORT is the port number the robot listens on for request of</span>
<a name="l00552"></a>00552 <span class="comment"> * connection. It defaults (and should always be set) to 65001 for the</span>
<a name="l00553"></a>00553 <span class="comment"> * standard binary port.</span>
<a name="l00554"></a>00554 <span class="comment"> */</span>
<a name="l00555"></a>00555 <span class="keyword">extern</span> <span class="keywordtype">int</span> ROBOT_TCP_PORT;
<a name="l00556"></a>00556
<a name="l00557"></a>00557 <span class="comment">/* LASER_CALIBRATION and LASER_OFFSET are the values that the laser</span>
<a name="l00558"></a>00558 <span class="comment"> * calibration software returns to you in the file Laser.cal, and that</span>
<a name="l00559"></a>00559 <span class="comment"> * are normally stored in the file robot.setup under [laser]calibration</span>
<a name="l00560"></a>00560 <span class="comment"> * and [laser]offset when Nserver is present. Set these values with</span>
<a name="l00561"></a>00561 <span class="comment"> * the properly calculated values for your laser system if you have one.</span>
<a name="l00562"></a>00562 <span class="comment"> * This is only needed for linking with Ndirect.o. </span>
<a name="l00563"></a>00563 <span class="comment"> */</span>
<a name="l00564"></a>00564
<a name="l00565"></a>00565 <span class="keyword">extern</span> <span class="keywordtype">double</span> LASER_CALIBRATION[8];
<a name="l00566"></a>00566 <span class="keyword">extern</span> <span class="keywordtype">double</span> LASER_OFFSET[2];
<a name="l00567"></a>00567
<a name="l00568"></a>00568 <span class="comment">/*****************************</span>
<a name="l00569"></a>00569 <span class="comment"> * *</span>
<a name="l00570"></a>00570 <span class="comment"> * Robot Interface Functions *</span>
<a name="l00571"></a>00571 <span class="comment"> * *</span>
<a name="l00572"></a>00572 <span class="comment"> *****************************/</span>
<a name="l00573"></a>00573
<a name="l00574"></a>00574 <span class="comment">/*</span>
<a name="l00575"></a>00575 <span class="comment"> * create_robot - requests the server to create a robot with</span>
<a name="l00576"></a>00576 <span class="comment"> * id = robot_id and establishes a connection with</span>
<a name="l00577"></a>00577 <span class="comment"> * the robot. This function is disabled in this</span>
<a name="l00578"></a>00578 <span class="comment"> * version of the software.</span>
<a name="l00579"></a>00579 <span class="comment"> * </span>
<a name="l00580"></a>00580 <span class="comment"> * parameters:</span>
<a name="l00581"></a>00581 <span class="comment"> * long robot_id -- id of the robot to be created. The robot</span>
<a name="l00582"></a>00582 <span class="comment"> * will be referred to by this id. If a process</span>
<a name="l00583"></a>00583 <span class="comment"> * wants to talk (connect) to a robot, it must</span>
<a name="l00584"></a>00584 <span class="comment"> * know its id.</span>
<a name="l00585"></a>00585 <span class="comment"> */</span>
<a name="l00586"></a>00586 <span class="keywordtype">int</span> create_robot(<span class="keywordtype">long</span> robot_id);
<a name="l00587"></a>00587
<a name="l00588"></a>00588 <span class="comment">/*</span>
<a name="l00589"></a>00589 <span class="comment"> * connect_robot - requests the server to connect to the robot</span>
<a name="l00590"></a>00590 <span class="comment"> * with id = robot_id. In order to talk to the server,</span>
<a name="l00591"></a>00591 <span class="comment"> * the SERVER_MACHINE_NAME and SERV_TCP_PORT must be</span>
<a name="l00592"></a>00592 <span class="comment"> * set properly. If a robot with robot_id exists,</span>
<a name="l00593"></a>00593 <span class="comment"> * a connection is established with that robot. If</span>
<a name="l00594"></a>00594 <span class="comment"> * no robot exists with robot_id, no connection is</span>
<a name="l00595"></a>00595 <span class="comment"> * established.</span>
<a name="l00596"></a>00596 <span class="comment"> *</span>
<a name="l00597"></a>00597 <span class="comment"> * parameters:</span>
<a name="l00598"></a>00598 <span class="comment"> * long robot_id -- robot's id. In this multiple robot version, in order</span>
<a name="l00599"></a>00599 <span class="comment"> * to connect to a robot, you must know it's id.</span>
<a name="l00600"></a>00600 <span class="comment"> * model -- robot type: 0 = Nomad 200, 1 = Nomad 150, 2 = Scout</span>
<a name="l00601"></a>00601 <span class="comment"> * *dev -- hostname for TCP, device file for serial ("/dev/" prefix</span>
<a name="l00602"></a>00602 <span class="comment"> * or ":" suffix means serial)</span>
<a name="l00603"></a>00603 <span class="comment"> * conn -- TCP port for TCP, baud rate for serial</span>
<a name="l00604"></a>00604 <span class="comment"> */</span>
<a name="l00605"></a>00605 <span class="keywordtype">int</span> connect_robot(<span class="keywordtype">long</span> robot_id, ...);
<a name="l00606"></a>00606
<a name="l00607"></a>00607 <span class="comment">/*</span>
<a name="l00608"></a>00608 <span class="comment"> * disconnect_robot - requests the server to close the connect with robot</span>
<a name="l00609"></a>00609 <span class="comment"> * with id = robot_id. </span>
<a name="l00610"></a>00610 <span class="comment"> *</span>
<a name="l00611"></a>00611 <span class="comment"> * parameters:</span>
<a name="l00612"></a>00612 <span class="comment"> * long robot_id -- robot's id. In order to disconnect a robot, you</span>
<a name="l00613"></a>00613 <span class="comment"> * must know it's id.</span>
<a name="l00614"></a>00614 <span class="comment"> */</span>
<a name="l00615"></a>00615 <span class="keywordtype">int</span> disconnect_robot(<span class="keywordtype">long</span> robot_id);
<a name="l00616"></a>00616
<a name="l00617"></a>00617 <span class="comment">/* </span>
<a name="l00618"></a>00618 <span class="comment"> * ac - sets accelerations of the robot. Currently it has no effect in </span>
<a name="l00619"></a>00619 <span class="comment"> * simulation mode.</span>
<a name="l00620"></a>00620 <span class="comment"> *</span>
<a name="l00621"></a>00621 <span class="comment"> * parameters:</span>
<a name="l00622"></a>00622 <span class="comment"> * int t_ac, s_ac, r_ac -- the translation, steering, and turret</span>
<a name="l00623"></a>00623 <span class="comment"> * accelerations. t_ac is in 1/10 inch/sec^2</span>
<a name="l00624"></a>00624 <span class="comment"> * s_ac and r_ac are in 1/10 degree/sec^2.</span>
<a name="l00625"></a>00625 <span class="comment"> */</span>
<a name="l00626"></a>00626 <span class="keywordtype">int</span> ac(<span class="keywordtype">int</span> t_ac, <span class="keywordtype">int</span> s_ac, <span class="keywordtype">int</span> r_ac);
<a name="l00627"></a>00627
<a name="l00628"></a>00628 <span class="comment">/*</span>
<a name="l00629"></a>00629 <span class="comment"> * sp - sets speeds of the robot, this function will not cause the robot to</span>
<a name="l00630"></a>00630 <span class="comment"> * move. However, the set speed will be used when executing a pr()</span>
<a name="l00631"></a>00631 <span class="comment"> * or a pa().</span>
<a name="l00632"></a>00632 <span class="comment"> *</span>
<a name="l00633"></a>00633 <span class="comment"> * parameters:</span>
<a name="l00634"></a>00634 <span class="comment"> * int t_sp, s_sp, r_sp -- the translation, steering, and turret</span>
<a name="l00635"></a>00635 <span class="comment"> * speeds. t_sp is in 1/10 inch/sec and</span>
<a name="l00636"></a>00636 <span class="comment"> * s_sp and r_sp are in 1/10 degree/sec.</span>
<a name="l00637"></a>00637 <span class="comment"> */</span>
<a name="l00638"></a>00638 <span class="keywordtype">int</span> sp(<span class="keywordtype">int</span> t_sp, <span class="keywordtype">int</span> s_sp, <span class="keywordtype">int</span> r_sp);
<a name="l00639"></a>00639
<a name="l00640"></a>00640 <span class="comment">/*</span>
<a name="l00641"></a>00641 <span class="comment"> * pr - moves the motors of the robot by a relative distance, using the speeds</span>
<a name="l00642"></a>00642 <span class="comment"> * set by sp(). The three parameters specify the relative distances for</span>
<a name="l00643"></a>00643 <span class="comment"> * the three motors: translation, steering, and turret. All the three</span>
<a name="l00644"></a>00644 <span class="comment"> * motors move concurrently if the speeds are not set to zero and the </span>
<a name="l00645"></a>00645 <span class="comment"> * distances to be traveled are non-zero. Depending on the timeout </span>
<a name="l00646"></a>00646 <span class="comment"> * period set (by function conf_tm(timeout)), the motion may </span>
<a name="l00647"></a>00647 <span class="comment"> * terminate before the robot has moved the specified distances</span>
<a name="l00648"></a>00648 <span class="comment"> *</span>
<a name="l00649"></a>00649 <span class="comment"> * parameters:</span>
<a name="l00650"></a>00650 <span class="comment"> * int t_pr, s_pr, r_pr -- the specified relative distances of the</span>
<a name="l00651"></a>00651 <span class="comment"> * translation, steering, and turret motors.</span>
<a name="l00652"></a>00652 <span class="comment"> * t_pr is in 1/10 inch and s_pr and r_pr are</span>
<a name="l00653"></a>00653 <span class="comment"> * in 1/10 degrees.</span>
<a name="l00654"></a>00654 <span class="comment"> */</span>
<a name="l00655"></a>00655 <span class="keywordtype">int</span> pr(<span class="keywordtype">int</span> t_pr, <span class="keywordtype">int</span> s_pr, <span class="keywordtype">int</span> r_pr);
<a name="l00656"></a>00656
<a name="l00657"></a>00657 <span class="comment">/*</span>
<a name="l00658"></a>00658 <span class="comment"> * vm - velocity mode, command the robot to move at translational</span>
<a name="l00659"></a>00659 <span class="comment"> * velocity = tv, steering velocity = sv, and rotational velocity =</span>
<a name="l00660"></a>00660 <span class="comment"> * rv. The robot will continue to move at these velocities until</span>
<a name="l00661"></a>00661 <span class="comment"> * either it receives another command or this command has been</span>
<a name="l00662"></a>00662 <span class="comment"> * timeout (in which case it will stop its motion).</span>
<a name="l00663"></a>00663 <span class="comment"> *</span>
<a name="l00664"></a>00664 <span class="comment"> * parameters: </span>
<a name="l00665"></a>00665 <span class="comment"> * int t_vm, s_vm, r_vm -- the desired translation, steering, and turret</span>
<a name="l00666"></a>00666 <span class="comment"> * velocities. tv is in 1/10 inch/sec and</span>
<a name="l00667"></a>00667 <span class="comment"> * sv and rv are in 1/10 degree/sec.</span>
<a name="l00668"></a>00668 <span class="comment"> */</span>
<a name="l00669"></a>00669 <span class="keywordtype">int</span> vm(<span class="keywordtype">int</span> t_vm, <span class="keywordtype">int</span> s_vm, <span class="keywordtype">int</span> r_vm);
<a name="l00670"></a>00670
<a name="l00671"></a>00671 <span class="comment">/*</span>
<a name="l00672"></a>00672 <span class="comment"> * mv - move, send a generalized motion command to the robot.</span>
<a name="l00673"></a>00673 <span class="comment"> * For each of the three axis (translation, steering, and</span>
<a name="l00674"></a>00674 <span class="comment"> * turret) a motion mode (t_mode, s_mode, r_mode) can be </span>
<a name="l00675"></a>00675 <span class="comment"> * specified (using the values MV_IGNORE, MV_AC, MV_SP,</span>
<a name="l00676"></a>00676 <span class="comment"> * MV_LP, MV_VM, and MV_PR defined above):</span>
<a name="l00677"></a>00677 <span class="comment"> *</span>
<a name="l00678"></a>00678 <span class="comment"> * MV_IGNORE : the argument for this axis is ignored</span>
<a name="l00679"></a>00679 <span class="comment"> * and the axis's motion will remain </span>
<a name="l00680"></a>00680 <span class="comment"> * unchanged.</span>
<a name="l00681"></a>00681 <span class="comment"> * MV_AC : the argument for this axis specifies</span>
<a name="l00682"></a>00682 <span class="comment"> * an acceleration value that will be used</span>
<a name="l00683"></a>00683 <span class="comment"> * during motion commands.</span>
<a name="l00684"></a>00684 <span class="comment"> * MV_SP : the argument for this axis specifies</span>
<a name="l00685"></a>00685 <span class="comment"> * a speed value that will be used during</span>
<a name="l00686"></a>00686 <span class="comment"> * position relative (PR) commands.</span>
<a name="l00687"></a>00687 <span class="comment"> * MV_LP : the arguemnt for this axis is ignored</span>
<a name="l00688"></a>00688 <span class="comment"> * but the motor is turned off.</span>
<a name="l00689"></a>00689 <span class="comment"> * MV_VM : the argument for this axis specifies</span>
<a name="l00690"></a>00690 <span class="comment"> * a velocity and the axis will be moved</span>
<a name="l00691"></a>00691 <span class="comment"> * with this velocity until a new motion</span>
<a name="l00692"></a>00692 <span class="comment"> * command is issued (vm,pr,mv) or </span>
<a name="l00693"></a>00693 <span class="comment"> * recieves a timeout.</span>
<a name="l00694"></a>00694 <span class="comment"> * MV_PR : the argument for this axis specifies</span>
<a name="l00695"></a>00695 <span class="comment"> * a position and the axis will be moved</span>
<a name="l00696"></a>00696 <span class="comment"> * to this position, unless this command</span>
<a name="l00697"></a>00697 <span class="comment"> * is overwritten by another (vm,pr,mv).</span>
<a name="l00698"></a>00698 <span class="comment"> *</span>
<a name="l00699"></a>00699 <span class="comment"> * parameters: </span>
<a name="l00700"></a>00700 <span class="comment"> * int t_mode - the desired mode for the tranlation axis</span>
<a name="l00701"></a>00701 <span class="comment"> * int t_mv - the value for that axis, velocity or position,</span>
<a name="l00702"></a>00702 <span class="comment"> * depending on t_mode</span>
<a name="l00703"></a>00703 <span class="comment"> * int s_mode - the desired mode for the steering axis</span>
<a name="l00704"></a>00704 <span class="comment"> * int s_mv - the value for that axis, velocity or position,</span>
<a name="l00705"></a>00705 <span class="comment"> * depending on t_mode</span>
<a name="l00706"></a>00706 <span class="comment"> * int r_mode - the desired mode for the turret axis</span>
<a name="l00707"></a>00707 <span class="comment"> * int r_mv - the value for that axis, velocity or position,</span>
<a name="l00708"></a>00708 <span class="comment"> * depending on t_mode</span>
<a name="l00709"></a>00709 <span class="comment"> */</span>
<a name="l00710"></a>00710 <span class="keywordtype">int</span> mv(<span class="keywordtype">int</span> t_mode, <span class="keywordtype">int</span> t_mv, <span class="keywordtype">int</span> s_mode, <span class="keywordtype">int</span> s_mv, <span class="keywordtype">int</span> r_mode, <span class="keywordtype">int</span> r_mv);
<a name="l00711"></a>00711
<a name="l00712"></a>00712 <span class="comment">/*</span>
<a name="l00713"></a>00713 <span class="comment"> * ct - send the sensor mask, Smask, to the robot. You must first change</span>
<a name="l00714"></a>00714 <span class="comment"> * the global variable Smask to the desired communication mask before</span>
<a name="l00715"></a>00715 <span class="comment"> * calling this function. </span>
<a name="l00716"></a>00716 <span class="comment"> */</span>
<a name="l00717"></a>00717 <span class="keywordtype">int</span> ct(<span class="keywordtype">void</span>);
<a name="l00718"></a>00718
<a name="l00719"></a>00719 <span class="comment">/*</span>
<a name="l00720"></a>00720 <span class="comment"> * gs - get the current state of the robot according to the mask (of </span>
<a name="l00721"></a>00721 <span class="comment"> * the communication channel)</span>
<a name="l00722"></a>00722 <span class="comment"> */</span>
<a name="l00723"></a>00723 <span class="keywordtype">int</span> gs(<span class="keywordtype">void</span>);
<a name="l00724"></a>00724
<a name="l00725"></a>00725 <span class="comment">/*</span>
<a name="l00726"></a>00726 <span class="comment"> * st - stops the robot (the robot holds its current position)</span>
<a name="l00727"></a>00727 <span class="comment"> */</span>
<a name="l00728"></a>00728 <span class="keywordtype">int</span> st(<span class="keywordtype">void</span>);
<a name="l00729"></a>00729
<a name="l00730"></a>00730 <span class="comment">/*</span>
<a name="l00731"></a>00731 <span class="comment"> * lp - set motor limp (the robot may not hold its position).</span>
<a name="l00732"></a>00732 <span class="comment"> */</span>
<a name="l00733"></a>00733 <span class="keywordtype">int</span> lp(<span class="keywordtype">void</span>);
<a name="l00734"></a>00734
<a name="l00735"></a>00735 <span class="comment">/*</span>
<a name="l00736"></a>00736 <span class="comment"> * tk - sends the character stream, talk_string, to the voice synthesizer</span>
<a name="l00737"></a>00737 <span class="comment"> * to make the robot talk.</span>
<a name="l00738"></a>00738 <span class="comment"> *</span>
<a name="l00739"></a>00739 <span class="comment"> * parameters:</span>
<a name="l00740"></a>00740 <span class="comment"> * char *talk_string -- the string to be sent to the synthesizer.</span>
<a name="l00741"></a>00741 <span class="comment"> */</span>
<a name="l00742"></a>00742 <span class="keywordtype">int</span> tk(<span class="keywordtype">char</span> *talk_string);
<a name="l00743"></a>00743
<a name="l00744"></a>00744 <span class="comment">/*</span>
<a name="l00745"></a>00745 <span class="comment"> * dp - define the current position of the robot as (x,y)</span>
<a name="l00746"></a>00746 <span class="comment"> * </span>
<a name="l00747"></a>00747 <span class="comment"> * parameters:</span>
<a name="l00748"></a>00748 <span class="comment"> * int x, y -- the position to set the robot to.</span>
<a name="l00749"></a>00749 <span class="comment"> */</span>
<a name="l00750"></a>00750 <span class="keywordtype">int</span> dp(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);
<a name="l00751"></a>00751
<a name="l00752"></a>00752 <span class="comment">/*</span>
<a name="l00753"></a>00753 <span class="comment"> * zr - zeroing the robot, align steering and turret with bumper zero.</span>
<a name="l00754"></a>00754 <span class="comment"> * The position, steering and turret angles are all set to zero.</span>
<a name="l00755"></a>00755 <span class="comment"> * This function returns when the zeroing process has completed.</span>
<a name="l00756"></a>00756 <span class="comment"> */</span>
<a name="l00757"></a>00757 <span class="keywordtype">int</span> zr(<span class="keywordtype">void</span>);
<a name="l00758"></a>00758
<a name="l00759"></a>00759 <span class="comment">/*</span>
<a name="l00760"></a>00760 <span class="comment"> * conf_ir - configure infrared sensor system.</span>
<a name="l00761"></a>00761 <span class="comment"> *</span>
<a name="l00762"></a>00762 <span class="comment"> * parameters: </span>
<a name="l00763"></a>00763 <span class="comment"> * int history -- specifies the percentage dependency of the current </span>
<a name="l00764"></a>00764 <span class="comment"> * returned reading on the previous returned reading.</span>
<a name="l00765"></a>00765 <span class="comment"> * It should be set between 0 and 10: 0 = no dependency </span>
<a name="l00766"></a>00766 <span class="comment"> * 10 = full dependency, i.e. the reading will not change</span>
<a name="l00767"></a>00767 <span class="comment"> * int order[16] -- specifies the firing sequence of the infrared </span>
<a name="l00768"></a>00768 <span class="comment"> * (#0 .. #15). You can terminate the order list by a </span>
<a name="l00769"></a>00769 <span class="comment"> * "255". For example, if you want to use only the </span>
<a name="l00770"></a>00770 <span class="comment"> * front three infrared sensors then set order[0]=0,</span>
<a name="l00771"></a>00771 <span class="comment"> * order[1]=1, order[2]=15, order[3]=255 (terminator).</span>
<a name="l00772"></a>00772 <span class="comment"> */</span>
<a name="l00773"></a>00773 <span class="keywordtype">int</span> conf_ir(<span class="keywordtype">int</span> history, <span class="keywordtype">int</span> order[16]);
<a name="l00774"></a>00774
<a name="l00775"></a>00775 <span class="comment">/*</span>
<a name="l00776"></a>00776 <span class="comment"> * conf_sn - configure sonar sensor system.</span>
<a name="l00777"></a>00777 <span class="comment"> *</span>
<a name="l00778"></a>00778 <span class="comment"> * parameters:</span>
<a name="l00779"></a>00779 <span class="comment"> * int rate -- specifies the firing rate of the sonar in 4 milli-seconds </span>
<a name="l00780"></a>00780 <span class="comment"> * interval; </span>
<a name="l00781"></a>00781 <span class="comment"> * int order[16] -- specifies the firing sequence of the sonar (#0 .. #15).</span>
<a name="l00782"></a>00782 <span class="comment"> * You can terminate the order list by a "255". For </span>
<a name="l00783"></a>00783 <span class="comment"> * example, if you want to use only the front three </span>
<a name="l00784"></a>00784 <span class="comment"> * sensors, then set order[0]=0, order[1]=1, order[2]=15, </span>
<a name="l00785"></a>00785 <span class="comment"> * order[3]=255 (terminator).</span>
<a name="l00786"></a>00786 <span class="comment"> */</span>
<a name="l00787"></a>00787 <span class="keywordtype">int</span> conf_sn(<span class="keywordtype">int</span> rate, <span class="keywordtype">int</span> order[16]);
<a name="l00788"></a>00788
<a name="l00789"></a>00789 <span class="comment">/*</span>
<a name="l00790"></a>00790 <span class="comment"> * conf_cp - configure compass system.</span>
<a name="l00791"></a>00791 <span class="comment"> * </span>
<a name="l00792"></a>00792 <span class="comment"> * parameters:</span>
<a name="l00793"></a>00793 <span class="comment"> * int mode -- specifies compass on/off: 0 = off ; 1 = on; 2 = calibrate.</span>
<a name="l00794"></a>00794 <span class="comment"> * When you call conf_cp (2), the robot will rotate slowly 360</span>
<a name="l00795"></a>00795 <span class="comment"> * degrees. You must wait till the robot stops rotating before</span>
<a name="l00796"></a>00796 <span class="comment"> * issuing another command to the robot (takes ~3 minutes).</span>
<a name="l00797"></a>00797 <span class="comment"> */</span>
<a name="l00798"></a>00798 <span class="keywordtype">int</span> conf_cp(<span class="keywordtype">int</span> mode);
<a name="l00799"></a>00799
<a name="l00800"></a>00800 <span class="comment">/*</span>
<a name="l00801"></a>00801 <span class="comment"> * conf_ls - configure laser sensor system:</span>
<a name="l00802"></a>00802 <span class="comment"> *</span>
<a name="l00803"></a>00803 <span class="comment"> * parameters:</span>
<a name="l00804"></a>00804 <span class="comment"> * unsigned int mode -- specifies the on-board processing mode of the laser </span>
<a name="l00805"></a>00805 <span class="comment"> * sensor data which determines the mode of the data </span>
<a name="l00806"></a>00806 <span class="comment"> * coming back: </span>
<a name="l00807"></a>00807 <span class="comment"> * the first bit specifies the on/off;</span>
<a name="l00808"></a>00808 <span class="comment"> * the second bit specifies point/line mode;</span>
<a name="l00809"></a>00809 <span class="comment"> * the third to fifth bits specify the </span>
<a name="l00810"></a>00810 <span class="comment"> * returned data types: </span>
<a name="l00811"></a>00811 <span class="comment"> * 000 = peak pixel, </span>
<a name="l00812"></a>00812 <span class="comment"> * 001 = rise pixel, </span>
<a name="l00813"></a>00813 <span class="comment"> * 010 = fall pixel, </span>
<a name="l00814"></a>00814 <span class="comment"> * 011 = magnitude,</span>
<a name="l00815"></a>00815 <span class="comment"> * 100 = distance;</span>
<a name="l00816"></a>00816 <span class="comment"> * the sixth bit specifies data integrity checking.</span>
<a name="l00817"></a>00817 <span class="comment"> *</span>
<a name="l00818"></a>00818 <span class="comment"> * unsigned int threshold -- specifies the inverted acceptable brightness</span>
<a name="l00819"></a>00819 <span class="comment"> * of the laser line. </span>
<a name="l00820"></a>00820 <span class="comment"> *</span>
<a name="l00821"></a>00821 <span class="comment"> * unsigned int width -- specifies the acceptable width in terms</span>
<a name="l00822"></a>00822 <span class="comment"> * of number of pixels that are brighter than the </span>
<a name="l00823"></a>00823 <span class="comment"> * set threshold.</span>
<a name="l00824"></a>00824 <span class="comment"> * </span>
<a name="l00825"></a>00825 <span class="comment"> * unsigned int num_data -- specifies the number of sampling points. </span>
<a name="l00826"></a>00826 <span class="comment"> * unsigned int processing -- specifies the number of neighboring </span>
<a name="l00827"></a>00827 <span class="comment"> * pixels for averaging</span>
<a name="l00828"></a>00828 <span class="comment"> *</span>
<a name="l00829"></a>00829 <span class="comment"> * If you don't understand the above, try this one:</span>
<a name="l00830"></a>00830 <span class="comment"> * conf_ls(51, 20, 20, 20, 4)</span>
<a name="l00831"></a>00831 <span class="comment"> */</span>
<a name="l00832"></a>00832 <span class="keywordtype">int</span> conf_ls(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mode,
<a name="l00833"></a>00833 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threshold,
<a name="l00834"></a>00834 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width,
<a name="l00835"></a>00835 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_data,
<a name="l00836"></a>00836 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> processing);
<a name="l00837"></a>00837
<a name="l00838"></a>00838 <span class="comment">/*</span>
<a name="l00839"></a>00839 <span class="comment"> * conf_tm - sets the timeout period of the robot in seconds. If the</span>
<a name="l00840"></a>00840 <span class="comment"> * robot has not received a command from the host computer</span>
<a name="l00841"></a>00841 <span class="comment"> * for more than the timeout period, it will abort its </span>
<a name="l00842"></a>00842 <span class="comment"> * current motion</span>
<a name="l00843"></a>00843 <span class="comment"> * </span>
<a name="l00844"></a>00844 <span class="comment"> * parameters:</span>
<a name="l00845"></a>00845 <span class="comment"> * unsigned int timeout -- timeout period in seconds. If it is 0, there</span>
<a name="l00846"></a>00846 <span class="comment"> * will be no timeout on the robot.</span>
<a name="l00847"></a>00847 <span class="comment"> */</span>
<a name="l00848"></a>00848 <span class="keywordtype">int</span> conf_tm(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> timeout);
<a name="l00849"></a>00849
<a name="l00850"></a>00850 <span class="comment">/*</span>
<a name="l00851"></a>00851 <span class="comment"> * get_ir - get infrared data, independent of mask. However, only </span>
<a name="l00852"></a>00852 <span class="comment"> * the active infrared sensor readings are valid. It updates</span>
<a name="l00853"></a>00853 <span class="comment"> * the State vector.</span>
<a name="l00854"></a>00854 <span class="comment"> */</span>
<a name="l00855"></a>00855 <span class="keywordtype">int</span> get_ir(<span class="keywordtype">void</span>);
<a name="l00856"></a>00856
<a name="l00857"></a>00857 <span class="comment">/*</span>
<a name="l00858"></a>00858 <span class="comment"> * get_sn - get sonar data, independent of mask. However, only </span>
<a name="l00859"></a>00859 <span class="comment"> * the active sonar sensor readings are valid. It updates</span>
<a name="l00860"></a>00860 <span class="comment"> * the State vector.</span>
<a name="l00861"></a>00861 <span class="comment"> */</span>
<a name="l00862"></a>00862 <span class="keywordtype">int</span> get_sn(<span class="keywordtype">void</span>);
<a name="l00863"></a>00863
<a name="l00864"></a>00864 <span class="comment">/*</span>
<a name="l00865"></a>00865 <span class="comment"> * get_rc - get robot configuration data (x, y, th, tu), independent of </span>
<a name="l00866"></a>00866 <span class="comment"> * mask. It updates the State vector.</span>
<a name="l00867"></a>00867 <span class="comment"> */</span>
<a name="l00868"></a>00868 <span class="keywordtype">int</span> get_rc(<span class="keywordtype">void</span>);
<a name="l00869"></a>00869
<a name="l00870"></a>00870 <span class="comment">/*</span>
<a name="l00871"></a>00871 <span class="comment"> * get_rv - get robot velocities (translation, steering, and turret) data,</span>
<a name="l00872"></a>00872 <span class="comment"> * independent of mask. It updates the State vector.</span>
<a name="l00873"></a>00873 <span class="comment"> */</span>
<a name="l00874"></a>00874 <span class="keywordtype">int</span> get_rv(<span class="keywordtype">void</span>);
<a name="l00875"></a>00875
<a name="l00876"></a>00876 <span class="comment">/*</span>
<a name="l00877"></a>00877 <span class="comment"> * get_ra - get robot acceleration (translation, steering, and turret) data,</span>
<a name="l00878"></a>00878 <span class="comment"> * independent of mask. It updates the State vector.</span>
<a name="l00879"></a>00879 <span class="comment"> */</span>
<a name="l00880"></a>00880 <span class="keywordtype">int</span> get_ra(<span class="keywordtype">void</span>);
<a name="l00881"></a>00881
<a name="l00882"></a>00882 <span class="comment">/*</span>
<a name="l00883"></a>00883 <span class="comment"> * get_cp - get compass data, independent of mask. However, the</span>
<a name="l00884"></a>00884 <span class="comment"> * data is valid only if the compass is on. It updates the</span>
<a name="l00885"></a>00885 <span class="comment"> * State vector.</span>
<a name="l00886"></a>00886 <span class="comment"> */</span>
<a name="l00887"></a>00887 <span class="keywordtype">int</span> get_cp(<span class="keywordtype">void</span>);
<a name="l00888"></a>00888
<a name="l00889"></a>00889 <span class="comment">/*</span>
<a name="l00890"></a>00890 <span class="comment"> * get_ls - get laser data point mode, independent of mask. However the</span>
<a name="l00891"></a>00891 <span class="comment"> * data is valid only of the laser is on. It updates the Laser </span>
<a name="l00892"></a>00892 <span class="comment"> * vector.</span>
<a name="l00893"></a>00893 <span class="comment"> */</span>
<a name="l00894"></a>00894 <span class="keywordtype">int</span> get_ls(<span class="keywordtype">void</span>);
<a name="l00895"></a>00895
<a name="l00896"></a>00896 <span class="comment">/*</span>
<a name="l00897"></a>00897 <span class="comment"> * get_bp - get bumper data, independent of mask. It updates the State</span>
<a name="l00898"></a>00898 <span class="comment"> * vector.</span>
<a name="l00899"></a>00899 <span class="comment"> */</span>
<a name="l00900"></a>00900 <span class="keywordtype">int</span> get_bp(<span class="keywordtype">void</span>);
<a name="l00901"></a>00901
<a name="l00902"></a>00902 <span class="comment">/*</span>
<a name="l00903"></a>00903 <span class="comment"> * conf_sg - configure laser sensor system line segment processing mode:</span>
<a name="l00904"></a>00904 <span class="comment"> *</span>
<a name="l00905"></a>00905 <span class="comment"> * parameters:</span>
<a name="l00906"></a>00906 <span class="comment"> * unsigned int threshold -- specifies the threshold value for least-square</span>
<a name="l00907"></a>00907 <span class="comment"> * fitting. When the error term grows above the </span>
<a name="l00908"></a>00908 <span class="comment"> * threshold, the line segment will be broken</span>
<a name="l00909"></a>00909 <span class="comment"> * unsigned int min_points -- specifies the acceptable number of points</span>
<a name="l00910"></a>00910 <span class="comment"> * to form a line segment.</span>
<a name="l00911"></a>00911 <span class="comment"> * unsigned int gap -- specifies the acceptable "gap" between two segments</span>
<a name="l00912"></a>00912 <span class="comment"> * while they can still be treated as one (in 1/10 inch)</span>
<a name="l00913"></a>00913 <span class="comment"> *</span>
<a name="l00914"></a>00914 <span class="comment"> * If you don't understand the above, try this one:</span>
<a name="l00915"></a>00915 <span class="comment"> * conf_sg(50, 4, 30)</span>
<a name="l00916"></a>00916 <span class="comment"> */</span>
<a name="l00917"></a>00917 <span class="keywordtype">int</span> conf_sg(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threshold,
<a name="l00918"></a>00918 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_points,
<a name="l00919"></a>00919 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> gap);
<a name="l00920"></a>00920
<a name="l00921"></a>00921 <span class="comment">/*</span>
<a name="l00922"></a>00922 <span class="comment"> * get_sg - get laser data line mode, independent of mask. It updates</span>
<a name="l00923"></a>00923 <span class="comment"> * the laser vector.</span>
<a name="l00924"></a>00924 <span class="comment"> */</span>
<a name="l00925"></a>00925 <span class="keywordtype">int</span> get_sg(<span class="keywordtype">void</span>);
<a name="l00926"></a>00926
<a name="l00927"></a>00927 <span class="comment">/*</span>
<a name="l00928"></a>00928 <span class="comment"> * da - define the current steering angle of the robot to be th</span>
<a name="l00929"></a>00929 <span class="comment"> * and the current turret angle of the robot to be tu.</span>
<a name="l00930"></a>00930 <span class="comment"> * </span>
<a name="l00931"></a>00931 <span class="comment"> * parameters:</span>
<a name="l00932"></a>00932 <span class="comment"> * int th, tu -- the steering and turret orientations to set the</span>
<a name="l00933"></a>00933 <span class="comment"> * robot to.</span>
<a name="l00934"></a>00934 <span class="comment"> */</span>
<a name="l00935"></a>00935 <span class="keywordtype">int</span> da(<span class="keywordtype">int</span> th, <span class="keywordtype">int</span> tu);
<a name="l00936"></a>00936
<a name="l00937"></a>00937 <span class="comment">/*</span>
<a name="l00938"></a>00938 <span class="comment"> * ws - waits for stop of motors of the robot. This function is intended </span>
<a name="l00939"></a>00939 <span class="comment"> * to be used in conjunction with pr() and pa() to detect the desired</span>
<a name="l00940"></a>00940 <span class="comment"> * motion has finished</span>
<a name="l00941"></a>00941 <span class="comment"> *</span>
<a name="l00942"></a>00942 <span class="comment"> * parameters:</span>
<a name="l00943"></a>00943 <span class="comment"> * unsigned char t_ws, s_ws, r_ws -- These three parameters specify </span>
<a name="l00944"></a>00944 <span class="comment"> * which axis or combination of axis </span>
<a name="l00945"></a>00945 <span class="comment"> * (translation, steering, and turret) </span>
<a name="l00946"></a>00946 <span class="comment"> * to wait. </span>
<a name="l00947"></a>00947 <span class="comment"> * unsigned char timeout -- specifies how long to wait before timing out </span>
<a name="l00948"></a>00948 <span class="comment"> * (return without stopping the robot).</span>
<a name="l00949"></a>00949 <span class="comment"> */</span>
<a name="l00950"></a>00950 <span class="keywordtype">int</span> ws(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> t_ws, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> s_ws,
<a name="l00951"></a>00951 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r_ws, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> timeout);
<a name="l00952"></a>00952
<a name="l00953"></a>00953 <span class="comment">/*</span>
<a name="l00954"></a>00954 <span class="comment"> * get_rpx - get the position of all nearby robots</span>
<a name="l00955"></a>00955 <span class="comment"> */</span>
<a name="l00956"></a>00956 <span class="keywordtype">int</span> get_rpx(<span class="keywordtype">long</span> *robot_pos);
<a name="l00957"></a>00957
<a name="l00958"></a>00958 <span class="comment">/*****************************</span>
<a name="l00959"></a>00959 <span class="comment"> * *</span>
<a name="l00960"></a>00960 <span class="comment"> * World Interface Functions *</span>
<a name="l00961"></a>00961 <span class="comment"> * *</span>
<a name="l00962"></a>00962 <span class="comment"> *****************************/</span>
<a name="l00963"></a>00963
<a name="l00964"></a>00964 <span class="comment">/*</span>
<a name="l00965"></a>00965 <span class="comment"> * add_obstacle - creates an obstacle and adds it to the obstacle list</span>
<a name="l00966"></a>00966 <span class="comment"> * of the robot environment. </span>
<a name="l00967"></a>00967 <span class="comment"> * </span>
<a name="l00968"></a>00968 <span class="comment"> * No effect in direct mode.</span>
<a name="l00969"></a>00969 <span class="comment"> * </span>
<a name="l00970"></a>00970 <span class="comment"> * parameters:</span>
<a name="l00971"></a>00971 <span class="comment"> * long obs[2*MAX_VERTICES+1] -- </span>
<a name="l00972"></a>00972 <span class="comment"> * The first element of obs specifies the number of </span>
<a name="l00973"></a>00973 <span class="comment"> * vertices of the polygonal obstacle (must be no greater </span>
<a name="l00974"></a>00974 <span class="comment"> * than MAX_VERTICES). The subsequent elements of obs </span>
<a name="l00975"></a>00975 <span class="comment"> * specifies the x and y coordinates of the vertices, </span>
<a name="l00976"></a>00976 <span class="comment"> * in counter-clockwise direction.</span>
<a name="l00977"></a>00977 <span class="comment"> */</span>
<a name="l00978"></a>00978 <span class="keywordtype">int</span> add_obstacle(<span class="keywordtype">long</span> obs[2*MAX_VERTICES+1]);
<a name="l00979"></a>00979
<a name="l00980"></a>00980 <span class="comment">/*</span>
<a name="l00981"></a>00981 <span class="comment"> * add_Obs - is the same as add_obstacle, for backward compatibility</span>
<a name="l00982"></a>00982 <span class="comment"> */</span>
<a name="l00983"></a>00983 <span class="keywordtype">int</span> add_Obs(<span class="keywordtype">long</span> obs[2*MAX_VERTICES+1]);
<a name="l00984"></a>00984
<a name="l00985"></a>00985
<a name="l00986"></a>00986 <span class="comment">/*</span>
<a name="l00987"></a>00987 <span class="comment"> * delete_obstacle - deletes an obstacle specified by obs from the robot </span>
<a name="l00988"></a>00988 <span class="comment"> * environment </span>
<a name="l00989"></a>00989 <span class="comment"> * parameters:</span>
<a name="l00990"></a>00990 <span class="comment"> * long obs[2*MAX_VERTICES+1] -- </span>
<a name="l00991"></a>00991 <span class="comment"> * The first element of obs specifies the number of </span>
<a name="l00992"></a>00992 <span class="comment"> * vertices of the polygonal obstacle (must be no greater </span>
<a name="l00993"></a>00993 <span class="comment"> * than MAX_VERTICES). The subsequent elements of obs </span>
<a name="l00994"></a>00994 <span class="comment"> * specifies the x and y coordinates of the vertices, </span>
<a name="l00995"></a>00995 <span class="comment"> * in counter-clockwise direction.</span>
<a name="l00996"></a>00996 <span class="comment"> */</span>
<a name="l00997"></a>00997 <span class="keywordtype">int</span> delete_obstacle(<span class="keywordtype">long</span> obs[2*MAX_VERTICES+1]);
<a name="l00998"></a>00998
<a name="l00999"></a>00999 <span class="comment">/*</span>
<a name="l01000"></a>01000 <span class="comment"> * delete_Obs - is the same as delete_obstacle, for backward compatibility</span>
<a name="l01001"></a>01001 <span class="comment"> */</span>
<a name="l01002"></a>01002 <span class="keywordtype">int</span> delete_Obs(<span class="keywordtype">long</span> obs[2*MAX_VERTICES+1]);
<a name="l01003"></a>01003
<a name="l01004"></a>01004 <span class="comment">/*</span>
<a name="l01005"></a>01005 <span class="comment"> * move_obstacle - moves the obstacle obs by dx along x direction and </span>
<a name="l01006"></a>01006 <span class="comment"> * dy along y direction. obs is modified.</span>
<a name="l01007"></a>01007 <span class="comment"> *</span>
<a name="l01008"></a>01008 <span class="comment"> * No effect in direct mode.</span>
<a name="l01009"></a>01009 <span class="comment"> * </span>
<a name="l01010"></a>01010 <span class="comment"> * parameters:</span>
<a name="l01011"></a>01011 <span class="comment"> * long obs[2*MAX_VERTICES+1] -- </span>
<a name="l01012"></a>01012 <span class="comment"> * The first element of obs specifies the number of </span>
<a name="l01013"></a>01013 <span class="comment"> * vertices of the polygonal obstacle (must be no greater </span>
<a name="l01014"></a>01014 <span class="comment"> * than MAX_VERTICES). The subsequent elements of obs </span>
<a name="l01015"></a>01015 <span class="comment"> * specifies the x and y coordinates of the vertices, </span>
<a name="l01016"></a>01016 <span class="comment"> * in counter-clockwise direction.</span>
<a name="l01017"></a>01017 <span class="comment"> * long dx, dy -- the x and y distances to translate the obstacle</span>
<a name="l01018"></a>01018 <span class="comment"> */</span>
<a name="l01019"></a>01019 <span class="keywordtype">int</span> move_obstacle(<span class="keywordtype">long</span> obs[2*MAX_VERTICES+1], <span class="keywordtype">long</span> dx, <span class="keywordtype">long</span> dy);
<a name="l01020"></a>01020
<a name="l01021"></a>01021 <span class="comment">/*</span>
<a name="l01022"></a>01022 <span class="comment"> * move_Obs - is the same as move_obstacle, for backward compatibility</span>
<a name="l01023"></a>01023 <span class="comment"> *</span>
<a name="l01024"></a>01024 <span class="comment"> * No effect in direct mode.</span>
<a name="l01025"></a>01025 <span class="comment"> * </span>
<a name="l01026"></a>01026 <span class="comment"> */</span>
<a name="l01027"></a>01027 <span class="keywordtype">int</span> move_Obs(<span class="keywordtype">long</span> obs[2*MAX_VERTICES+1], <span class="keywordtype">long</span> dx, <span class="keywordtype">long</span> dy);
<a name="l01028"></a>01028
<a name="l01029"></a>01029 <span class="comment">/*</span>
<a name="l01030"></a>01030 <span class="comment"> * new_world - deletes all obstacles in the current robot world</span>
<a name="l01031"></a>01031 <span class="comment"> *</span>
<a name="l01032"></a>01032 <span class="comment"> * No effect in direct mode.</span>
<a name="l01033"></a>01033 <span class="comment"> * </span>
<a name="l01034"></a>01034 <span class="comment"> */</span>
<a name="l01035"></a>01035 <span class="keywordtype">int</span> new_world(<span class="keywordtype">void</span>);
<a name="l01036"></a>01036
<a name="l01037"></a>01037 <span class="comment">/****************************</span>
<a name="l01038"></a>01038 <span class="comment"> * *</span>
<a name="l01039"></a>01039 <span class="comment"> * Graphics refresh control *</span>
<a name="l01040"></a>01040 <span class="comment"> * *</span>
<a name="l01041"></a>01041 <span class="comment"> ****************************/</span>
<a name="l01042"></a>01042
<a name="l01043"></a>01043 <span class="comment">/*</span>
<a name="l01044"></a>01044 <span class="comment"> * refresh_all - causes all temporary drawing in graphics window, including</span>
<a name="l01045"></a>01045 <span class="comment"> * traces, sensors, and client graphics to be erased</span>
<a name="l01046"></a>01046 <span class="comment"> */</span>
<a name="l01047"></a>01047 <span class="keywordtype">int</span> refresh_all(<span class="keywordtype">void</span>);
<a name="l01048"></a>01048
<a name="l01049"></a>01049 <span class="comment">/*</span>
<a name="l01050"></a>01050 <span class="comment"> * refresh_all_traces - causes all robot traces in graphics to be erased</span>
<a name="l01051"></a>01051 <span class="comment"> */</span>
<a name="l01052"></a>01052 <span class="keywordtype">int</span> refresh_all_traces(<span class="keywordtype">void</span>);
<a name="l01053"></a>01053
<a name="l01054"></a>01054 <span class="comment">/*</span>
<a name="l01055"></a>01055 <span class="comment"> * refresh_actual_trace - causes actual robot trace in graphics to be erased</span>
<a name="l01056"></a>01056 <span class="comment"> */</span>
<a name="l01057"></a>01057 <span class="keywordtype">int</span> refresh_actual_trace(<span class="keywordtype">void</span>);
<a name="l01058"></a>01058
<a name="l01059"></a>01059 <span class="comment">/*</span>
<a name="l01060"></a>01060 <span class="comment"> * refresh_encoder_trace - causes encoder robot trace in graphics to be erased</span>
<a name="l01061"></a>01061 <span class="comment"> */</span>
<a name="l01062"></a>01062 <span class="keywordtype">int</span> refresh_encoder_trace(<span class="keywordtype">void</span>);
<a name="l01063"></a>01063
<a name="l01064"></a>01064 <span class="comment">/*</span>
<a name="l01065"></a>01065 <span class="comment"> * refresh_all_sensors - causes all sensor drawings in graphics to be erased</span>
<a name="l01066"></a>01066 <span class="comment"> */</span>
<a name="l01067"></a>01067 <span class="keywordtype">int</span> refresh_all_sensors(<span class="keywordtype">void</span>);
<a name="l01068"></a>01068
<a name="l01069"></a>01069 <span class="comment">/*</span>
<a name="l01070"></a>01070 <span class="comment"> * refresh_bumper_sensor - causes bumper drawings in graphics to be erased</span>
<a name="l01071"></a>01071 <span class="comment"> */</span>
<a name="l01072"></a>01072 <span class="keywordtype">int</span> refresh_bumper_sensor(<span class="keywordtype">void</span>);
<a name="l01073"></a>01073
<a name="l01074"></a>01074 <span class="comment">/*</span>
<a name="l01075"></a>01075 <span class="comment"> * refresh_infrared_sensor - causes infrared drawings in graphics to be erased</span>
<a name="l01076"></a>01076 <span class="comment"> */</span>
<a name="l01077"></a>01077 <span class="keywordtype">int</span> refresh_infrared_sensor(<span class="keywordtype">void</span>);
<a name="l01078"></a>01078
<a name="l01079"></a>01079 <span class="comment">/*</span>
<a name="l01080"></a>01080 <span class="comment"> * refresh_sonar_sensor - causes sonar drawings in graphics to be erased</span>
<a name="l01081"></a>01081 <span class="comment"> */</span>
<a name="l01082"></a>01082 <span class="keywordtype">int</span> refresh_sonar_sensor(<span class="keywordtype">void</span>);
<a name="l01083"></a>01083
<a name="l01084"></a>01084 <span class="comment">/*</span>
<a name="l01085"></a>01085 <span class="comment"> * refresh_laser_sensor - causes laser drawings in graphics to be erased</span>
<a name="l01086"></a>01086 <span class="comment"> */</span>
<a name="l01087"></a>01087 <span class="keywordtype">int</span> refresh_laser_sensor(<span class="keywordtype">void</span>);
<a name="l01088"></a>01088
<a name="l01089"></a>01089 <span class="comment">/*</span>
<a name="l01090"></a>01090 <span class="comment"> * refresh_client_graphics - causes drawings performed by any clients into</span>
<a name="l01091"></a>01091 <span class="comment"> * graphics window to be erased</span>
<a name="l01092"></a>01092 <span class="comment"> */</span>
<a name="l01093"></a>01093 <span class="keywordtype">int</span> refresh_client_graphics(<span class="keywordtype">void</span>);
<a name="l01094"></a>01094
<a name="l01095"></a>01095 <span class="comment">/*******************************</span>
<a name="l01096"></a>01096 <span class="comment"> * *</span>
<a name="l01097"></a>01097 <span class="comment"> * Miscellaneous robot control *</span>
<a name="l01098"></a>01098 <span class="comment"> * *</span>
<a name="l01099"></a>01099 <span class="comment"> *******************************/</span>
<a name="l01100"></a>01100
<a name="l01101"></a>01101 <span class="comment">/*</span>
<a name="l01102"></a>01102 <span class="comment"> * init_mask - initialize the sensor mask, Smask.</span>
<a name="l01103"></a>01103 <span class="comment"> */</span>
<a name="l01104"></a>01104 <span class="keywordtype">void</span> init_mask(<span class="keywordtype">void</span>);
<a name="l01105"></a>01105
<a name="l01106"></a>01106 <span class="comment">/*</span>
<a name="l01107"></a>01107 <span class="comment"> * init_sensors - initialize the sensor mask, Smask, and send it to the</span>
<a name="l01108"></a>01108 <span class="comment"> * robot. It has no effect on the sensors </span>
<a name="l01109"></a>01109 <span class="comment"> */</span>
<a name="l01110"></a>01110 <span class="keywordtype">int</span> init_sensors(<span class="keywordtype">void</span>);
<a name="l01111"></a>01111
<a name="l01112"></a>01112 <span class="comment">/*</span>
<a name="l01113"></a>01113 <span class="comment"> * place_robot - places the robot at configuration (x, y, th, tu). </span>
<a name="l01114"></a>01114 <span class="comment"> * In simulation mode, it will place both the Encoder-robot</span>
<a name="l01115"></a>01115 <span class="comment"> * and the Actual-robot at this configuration. In real robot</span>
<a name="l01116"></a>01116 <span class="comment"> * mode, it will call dp(x, y) and da(th, tu).</span>
<a name="l01117"></a>01117 <span class="comment"> * </span>
<a name="l01118"></a>01118 <span class="comment"> * parameters:</span>
<a name="l01119"></a>01119 <span class="comment"> * int x, y -- x-y position of the desired robot configuration</span>
<a name="l01120"></a>01120 <span class="comment"> * int th, tu -- the steering and turret orientation of the robot</span>
<a name="l01121"></a>01121 <span class="comment"> * desired configuration</span>
<a name="l01122"></a>01122 <span class="comment"> */</span>
<a name="l01123"></a>01123 <span class="keywordtype">int</span> place_robot(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> th, <span class="keywordtype">int</span> tu);
<a name="l01124"></a>01124
<a name="l01125"></a>01125 <span class="comment">/*</span>
<a name="l01126"></a>01126 <span class="comment"> * special_request - sends a special request (stored in user_send_buffer) </span>
<a name="l01127"></a>01127 <span class="comment"> * to the robot and waits for the robot's response (which</span>
<a name="l01128"></a>01128 <span class="comment"> * will be stored in user_receive_buffer). </span>
<a name="l01129"></a>01129 <span class="comment"> * </span>
<a name="l01130"></a>01130 <span class="comment"> * parameters:</span>
<a name="l01131"></a>01131 <span class="comment"> * unsigned char *user_send_buffer -- stores data to be sent to the robot</span>
<a name="l01132"></a>01132 <span class="comment"> * Should be a pointer to an array of</span>
<a name="l01133"></a>01133 <span class="comment"> * 1024 elements</span>
<a name="l01134"></a>01134 <span class="comment"> * unsigned char *user_receive_buffer -- stores data received from the robot</span>
<a name="l01135"></a>01135 <span class="comment"> * Should be a pointer to an array of </span>
<a name="l01136"></a>01136 <span class="comment"> * 1024 elements</span>
<a name="l01137"></a>01137 <span class="comment"> */</span>
<a name="l01138"></a>01138 <span class="keywordtype">int</span> special_request(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *user_send_buffer,
<a name="l01139"></a>01139 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *user_receive_buffer);
<a name="l01140"></a>01140
<a name="l01141"></a>01141 <span class="comment">/*******************************</span>
<a name="l01142"></a>01142 <span class="comment"> * *</span>
<a name="l01143"></a>01143 <span class="comment"> * Graphic Interface Functions *</span>
<a name="l01144"></a>01144 <span class="comment"> * *</span>
<a name="l01145"></a>01145 <span class="comment"> *******************************/</span>
<a name="l01146"></a>01146
<a name="l01147"></a>01147 <span class="comment">/*</span>
<a name="l01148"></a>01148 <span class="comment"> * draw_robot - this function allows the client to draw a robot at</span>
<a name="l01149"></a>01149 <span class="comment"> * configuration x, y, th, tu (using the robot world </span>
<a name="l01150"></a>01150 <span class="comment"> * coordinates). </span>
<a name="l01151"></a>01151 <span class="comment"> * </span>
<a name="l01152"></a>01152 <span class="comment"> * No effect in direct mode.</span>
<a name="l01153"></a>01153 <span class="comment"> * </span>
<a name="l01154"></a>01154 <span class="comment"> * parameters:</span>
<a name="l01155"></a>01155 <span class="comment"> * long x, y -- the x-y position of the robot.</span>
<a name="l01156"></a>01156 <span class="comment"> * int th, tu -- the steering and turret orientation of the robot</span>
<a name="l01157"></a>01157 <span class="comment"> * int mode - the drawing mode. If mode = 1, the robot is drawn in </span>
<a name="l01158"></a>01158 <span class="comment"> * BlackPixel using GXxor (using GXxor you can erase the trace </span>
<a name="l01159"></a>01159 <span class="comment"> * of robotby drawing over it). If mode = 2, the robot is </span>
<a name="l01160"></a>01160 <span class="comment"> * drawn in BlackPixel using GXxor and in addition, a small arrow</span>
<a name="l01161"></a>01161 <span class="comment"> * is drawn at the center of the robot using GXcopy (using this </span>
<a name="l01162"></a>01162 <span class="comment"> * mode you can leave a trace of small arrow). If mode = 3, </span>
<a name="l01163"></a>01163 <span class="comment"> * the robot is drawn in BlackPixel using GXcopy. When mode > 3,</span>
<a name="l01164"></a>01164 <span class="comment"> * the robot is drawn in color (GXxor) using color(mode-3), see</span>
<a name="l01165"></a>01165 <span class="comment"> * Color table below.</span>
<a name="l01166"></a>01166 <span class="comment"> */</span>
<a name="l01167"></a>01167 <span class="keywordtype">int</span> draw_robot(<span class="keywordtype">long</span> x, <span class="keywordtype">long</span> y, <span class="keywordtype">int</span> th, <span class="keywordtype">int</span> tu, <span class="keywordtype">int</span> mode);
<a name="l01168"></a>01168
<a name="l01169"></a>01169
<a name="l01170"></a>01170 <span class="comment">/*</span>
<a name="l01171"></a>01171 <span class="comment"> * draw_line - this function allows the client to draw a line from</span>
<a name="l01172"></a>01172 <span class="comment"> * (x_1, y_1) to (x_2, y_2) (using the robot world coordinates). </span>
<a name="l01173"></a>01173 <span class="comment"> *</span>
<a name="l01174"></a>01174 <span class="comment"> * No effect in direct mode.</span>
<a name="l01175"></a>01175 <span class="comment"> * </span>
<a name="l01176"></a>01176 <span class="comment"> * parameters:</span>
<a name="l01177"></a>01177 <span class="comment"> * long x_1, y_1, x_2, y_2 -- the two end-points of the line</span>
<a name="l01178"></a>01178 <span class="comment"> * int mode -- the mode of drawing: when mode is 1, the drawing is </span>
<a name="l01179"></a>01179 <span class="comment"> * done in BlackPixel using GXcopy; when mode is 2, the drawing</span>
<a name="l01180"></a>01180 <span class="comment"> * is done in BlackPixel using GXxor, when mode > 2, the drawing</span>
<a name="l01181"></a>01181 <span class="comment"> * is done in color (GXxor) using color(mode-2), see Color table</span>
<a name="l01182"></a>01182 <span class="comment"> * below.</span>
<a name="l01183"></a>01183 <span class="comment"> */</span>
<a name="l01184"></a>01184 <span class="keywordtype">int</span> draw_line(<span class="keywordtype">long</span> x_1, <span class="keywordtype">long</span> y_1, <span class="keywordtype">long</span> x_2, <span class="keywordtype">long</span> y_2, <span class="keywordtype">int</span> mode);
<a name="l01185"></a>01185
<a name="l01186"></a>01186
<a name="l01187"></a>01187 <span class="comment">/*</span>
<a name="l01188"></a>01188 <span class="comment"> * draw_arc - this function allows the client to draw arc which is part</span>
<a name="l01189"></a>01189 <span class="comment"> * of an ellipse (using the robot world coordinates). </span>
<a name="l01190"></a>01190 <span class="comment"> *</span>
<a name="l01191"></a>01191 <span class="comment"> * No effect in direct mode.</span>
<a name="l01192"></a>01192 <span class="comment"> * </span>
<a name="l01193"></a>01193 <span class="comment"> * parameters:</span>
<a name="l01194"></a>01194 <span class="comment"> * long x_0, y_0, w, h -- (x_0, y_0) specifies the upper left corner of the </span>
<a name="l01195"></a>01195 <span class="comment"> * rectangle bounding the ellipse while w and h</span>
<a name="l01196"></a>01196 <span class="comment"> * specifies the width and height of the bounding </span>
<a name="l01197"></a>01197 <span class="comment"> * rectangle, respectively.</span>
<a name="l01198"></a>01198 <span class="comment"> * int th1, th2 -- th1 and th2 specifies the angular range of the arc.</span>
<a name="l01199"></a>01199 <span class="comment"> * int mode -- the mode of drawing: when mode is 1, the drawing is </span>
<a name="l01200"></a>01200 <span class="comment"> * done in BlackPixel using GXcopy; when mode is 2, the drawing</span>
<a name="l01201"></a>01201 <span class="comment"> * is done in BlackPixel using GXxor, when mode > 2, the drawing</span>
<a name="l01202"></a>01202 <span class="comment"> * is done in color (GXxor) using color(mode-2), see Color table</span>
<a name="l01203"></a>01203 <span class="comment"> * below.</span>
<a name="l01204"></a>01204 <span class="comment"> */</span>
<a name="l01205"></a>01205 <span class="keywordtype">int</span> draw_arc(<span class="keywordtype">long</span> x_0, <span class="keywordtype">long</span> y_0, <span class="keywordtype">long</span> w, <span class="keywordtype">long</span> h, <span class="keywordtype">int</span> th1, <span class="keywordtype">int</span> th2, <span class="keywordtype">int</span> mode);
<a name="l01206"></a>01206
<a name="l01207"></a>01207 <span class="comment">/* </span>
<a name="l01208"></a>01208 <span class="comment"> * Color table:</span>
<a name="l01209"></a>01209 <span class="comment"> * color1 = Blue</span>
<a name="l01210"></a>01210 <span class="comment"> * color2 = NavyBlue</span>
<a name="l01211"></a>01211 <span class="comment"> * color3 = RoyalBlue</span>
<a name="l01212"></a>01212 <span class="comment"> * color4 = SteelBlue</span>
<a name="l01213"></a>01213 <span class="comment"> * color5 = CadetBlue</span>
<a name="l01214"></a>01214 <span class="comment"> * color6 = Green</span>
<a name="l01215"></a>01215 <span class="comment"> * color7 = SeaGreen</span>
<a name="l01216"></a>01216 <span class="comment"> * color8 = ForestGreen</span>
<a name="l01217"></a>01217 <span class="comment"> * color9 = DarkGreen</span>
<a name="l01218"></a>01218 <span class="comment"> * color10 = LimeGreen</span>
<a name="l01219"></a>01219 <span class="comment"> * color11 = Yellow</span>
<a name="l01220"></a>01220 <span class="comment"> * color12 = Orange</span>
<a name="l01221"></a>01221 <span class="comment"> * color13 = LightCoral</span>
<a name="l01222"></a>01222 <span class="comment"> * color14 = DeepPink</span>
<a name="l01223"></a>01223 <span class="comment"> * color15 = OrangeRed</span>
<a name="l01224"></a>01224 <span class="comment"> * color16 = Red</span>
<a name="l01225"></a>01225 <span class="comment"> * color17 = IndianRed</span>
<a name="l01226"></a>01226 <span class="comment"> * color18 = VioletRed</span>
<a name="l01227"></a>01227 <span class="comment"> * color19 = DeepPink</span>
<a name="l01228"></a>01228 <span class="comment"> * color20 = Maroon</span>
<a name="l01229"></a>01229 <span class="comment"> */</span>
<a name="l01230"></a>01230
<a name="l01231"></a>01231 <span class="comment">/*************************************</span>
<a name="l01232"></a>01232 <span class="comment"> * *</span>
<a name="l01233"></a>01233 <span class="comment"> * Miscellaneous Interface Functions *</span>
<a name="l01234"></a>01234 <span class="comment"> * *</span>
<a name="l01235"></a>01235 <span class="comment"> *************************************/</span>
<a name="l01236"></a>01236
<a name="l01237"></a>01237 <span class="comment">/*</span>
<a name="l01238"></a>01238 <span class="comment"> * server_is_running - this function queries the server to see</span>
<a name="l01239"></a>01239 <span class="comment"> * if it is up and running. If so, this function</span>
<a name="l01240"></a>01240 <span class="comment"> * returns a TRUE, otherwise it returns FALSE.</span>
<a name="l01241"></a>01241 <span class="comment"> * This function is replaced by connect_robot, but </span>
<a name="l01242"></a>01242 <span class="comment"> * is defined here for backward compatibility</span>
<a name="l01243"></a>01243 <span class="comment"> *</span>
<a name="l01244"></a>01244 <span class="comment"> * No effect in direct mode.</span>
<a name="l01245"></a>01245 <span class="comment"> * </span>
<a name="l01246"></a>01246 <span class="comment"> */</span>
<a name="l01247"></a>01247 <span class="keywordtype">int</span> server_is_running(<span class="keywordtype">void</span>);
<a name="l01248"></a>01248
<a name="l01249"></a>01249 <span class="comment">/*</span>
<a name="l01250"></a>01250 <span class="comment"> * quit_server - this function allows the client to quit the server</span>
<a name="l01251"></a>01251 <span class="comment"> * assuming this feature is enabled in the setup file</span>
<a name="l01252"></a>01252 <span class="comment"> * of the server</span>
<a name="l01253"></a>01253 <span class="comment"> *</span>
<a name="l01254"></a>01254 <span class="comment"> * No effect in direct mode.</span>
<a name="l01255"></a>01255 <span class="comment"> * </span>
<a name="l01256"></a>01256 <span class="comment"> */</span>
<a name="l01257"></a>01257 <span class="keywordtype">int</span> quit_server(<span class="keywordtype">void</span>);
<a name="l01258"></a>01258
<a name="l01259"></a>01259 <span class="comment">/*</span>
<a name="l01260"></a>01260 <span class="comment"> * real_robot - this function allows the client to switch to</span>
<a name="l01261"></a>01261 <span class="comment"> * real robot mode in the server</span>
<a name="l01262"></a>01262 <span class="comment"> *</span>
<a name="l01263"></a>01263 <span class="comment"> * No effect in direct mode.</span>
<a name="l01264"></a>01264 <span class="comment"> * </span>
<a name="l01265"></a>01265 <span class="comment"> */</span>
<a name="l01266"></a>01266 <span class="keywordtype">int</span> real_robot(<span class="keywordtype">void</span>);
<a name="l01267"></a>01267
<a name="l01268"></a>01268 <span class="comment">/*</span>
<a name="l01269"></a>01269 <span class="comment"> * simulated_robot - this function allows the client to switch to</span>
<a name="l01270"></a>01270 <span class="comment"> * simulated robot mode in the server</span>
<a name="l01271"></a>01271 <span class="comment"> *</span>
<a name="l01272"></a>01272 <span class="comment"> * No effect in direct mode.</span>
<a name="l01273"></a>01273 <span class="comment"> * </span>
<a name="l01274"></a>01274 <span class="comment"> */</span>
<a name="l01275"></a>01275 <span class="keywordtype">int</span> simulated_robot(<span class="keywordtype">void</span>);
<a name="l01276"></a>01276
<a name="l01277"></a>01277 <span class="comment">/*</span>
<a name="l01278"></a>01278 <span class="comment"> * predict_sensors - this function predicts the sensor reading of</span>
<a name="l01279"></a>01279 <span class="comment"> * the robot assuming it is at position (x, y)</span>
<a name="l01280"></a>01280 <span class="comment"> * and orientation th and tu using the map of the</span>
<a name="l01281"></a>01281 <span class="comment"> * simulated robot environment. The predicted sensor</span>
<a name="l01282"></a>01282 <span class="comment"> * data values are stored in "state" and "laser".</span>
<a name="l01283"></a>01283 <span class="comment"> * </span>
<a name="l01284"></a>01284 <span class="comment"> * No effect in direct mode.</span>
<a name="l01285"></a>01285 <span class="comment"> * </span>
<a name="l01286"></a>01286 <span class="comment"> * parameters:</span>
<a name="l01287"></a>01287 <span class="comment"> * int x, y, th, tu -- the configuration of the robot</span>
<a name="l01288"></a>01288 <span class="comment"> * long *state -- where to put the predicted state data</span>
<a name="l01289"></a>01289 <span class="comment"> * int *laser -- where to put the predicted laser data</span>
<a name="l01290"></a>01290 <span class="comment"> */</span>
<a name="l01291"></a>01291 <span class="keywordtype">int</span> predict_sensors(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> th, <span class="keywordtype">int</span> tu, <span class="keywordtype">long</span> *state, <span class="keywordtype">int</span> *laser);
<a name="l01292"></a>01292
<a name="l01293"></a>01293 <span class="comment">/* </span>
<a name="l01294"></a>01294 <span class="comment"> * motion_check - this function computes the intersection of a path</span>
<a name="l01295"></a>01295 <span class="comment"> * specified by the parameters: type, a1, ..., a7 with</span>
<a name="l01296"></a>01296 <span class="comment"> * the obstacles in the robot's environment. If there is</span>
<a name="l01297"></a>01297 <span class="comment"> * collision, the function returns 1 and the x-y configuration</span>
<a name="l01298"></a>01298 <span class="comment"> * of the robot is stored in collide[0] and collide[1] while</span>
<a name="l01299"></a>01299 <span class="comment"> * collide[2] stores the inward normal of the obstacle edge</span>
<a name="l01300"></a>01300 <span class="comment"> * that the robot collides with (this information can be</span>
<a name="l01301"></a>01301 <span class="comment"> * used to calculate which bumper is hit.). If there is no</span>
<a name="l01302"></a>01302 <span class="comment"> * collision, the function returns 0.</span>
<a name="l01303"></a>01303 <span class="comment"> *</span>
<a name="l01304"></a>01304 <span class="comment"> * No effect in direct mode.</span>
<a name="l01305"></a>01305 <span class="comment"> * </span>
<a name="l01306"></a>01306 <span class="comment"> * parameters:</span>
<a name="l01307"></a>01307 <span class="comment"> * long type - 0 if the path is a line segment</span>
<a name="l01308"></a>01308 <span class="comment"> * 1 if the path is an arc of circle</span>
<a name="l01309"></a>01309 <span class="comment"> * double a1 a2 - x-y coordinates of the first point of the path (the path</span>
<a name="l01310"></a>01310 <span class="comment"> * is directional).</span>
<a name="l01311"></a>01311 <span class="comment"> * depending on the value of type, a3 - a7 have different meanings.</span>
<a name="l01312"></a>01312 <span class="comment"> * if (type == 0), line segment mode</span>
<a name="l01313"></a>01313 <span class="comment"> * double a3 a4 are the x-y coordinates of the second point of the path</span>
<a name="l01314"></a>01314 <span class="comment"> * a5, a6, a7 have no meaning</span>
<a name="l01315"></a>01315 <span class="comment"> * if (type == 1), arc of circle mode</span>
<a name="l01316"></a>01316 <span class="comment"> * double a3 is the angle (in radiance) of the vector connecting the </span>
<a name="l01317"></a>01317 <span class="comment"> * center of the circle to the first end-point of the arc</span>
<a name="l01318"></a>01318 <span class="comment"> * double a4 is the angle of the vector connecting the center</span>
<a name="l01319"></a>01319 <span class="comment"> * of the circle to the second end-point of the arc</span>
<a name="l01320"></a>01320 <span class="comment"> * double a5 is the radius of the circle</span>
<a name="l01321"></a>01321 <span class="comment"> * double a6 a7 are the x-y coordinate of the center of the circle</span>
<a name="l01322"></a>01322 <span class="comment"> */</span>
<a name="l01323"></a>01323 <span class="keywordtype">int</span> motion_check(<span class="keywordtype">long</span> type, <span class="keywordtype">double</span> a1, <span class="keywordtype">double</span> a2, <span class="keywordtype">double</span> a3, <span class="keywordtype">double</span> a4,
<a name="l01324"></a>01324 <span class="keywordtype">double</span> a5, <span class="keywordtype">double</span> a6, <span class="keywordtype">double</span> a7, <span class="keywordtype">double</span> collide[3]);
<a name="l01325"></a>01325
<a name="l01326"></a>01326 <span class="comment">/*</span>
<a name="l01327"></a>01327 <span class="comment"> * get_robot_conf - interactively getting the robot's conf, by clicking</span>
<a name="l01328"></a>01328 <span class="comment"> * the mouse in the server's Robot window</span>
<a name="l01329"></a>01329 <span class="comment"> * </span>
<a name="l01330"></a>01330 <span class="comment"> * No effect in direct mode.</span>
<a name="l01331"></a>01331 <span class="comment"> * </span>
<a name="l01332"></a>01332 <span class="comment"> * parameters:</span>
<a name="l01333"></a>01333 <span class="comment"> * long *conf -- should be an array of 4 long integers. The configuration</span>
<a name="l01334"></a>01334 <span class="comment"> * of the robot is returned in this array.</span>
<a name="l01335"></a>01335 <span class="comment"> */</span>
<a name="l01336"></a>01336 <span class="keywordtype">int</span> get_robot_conf(<span class="keywordtype">long</span> *conf);
<a name="l01337"></a>01337
<a name="l01338"></a>01338 <span class="comment">/*******************************************</span>
<a name="l01339"></a>01339 <span class="comment"> * *</span>
<a name="l01340"></a>01340 <span class="comment"> * The following are helper functions for *</span>
<a name="l01341"></a>01341 <span class="comment"> * developing user defined host <-> robot *</span>
<a name="l01342"></a>01342 <span class="comment"> * communication *</span>
<a name="l01343"></a>01343 <span class="comment"> * *</span>
<a name="l01344"></a>01344 <span class="comment"> *******************************************/</span>
<a name="l01345"></a>01345
<a name="l01346"></a>01346 <span class="comment">/*</span>
<a name="l01347"></a>01347 <span class="comment"> * init_receive_buffer - sets the index to 4 which is the point</span>
<a name="l01348"></a>01348 <span class="comment"> * at which data should begin to be extracted</span>
<a name="l01349"></a>01349 <span class="comment"> * </span>
<a name="l01350"></a>01350 <span class="comment"> * parameters:</span>
<a name="l01351"></a>01351 <span class="comment"> * unsigned short *index -- is the buffer index</span>
<a name="l01352"></a>01352 <span class="comment"> */</span>
<a name="l01353"></a>01353 <span class="keywordtype">int</span> init_receive_buffer(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01354"></a>01354
<a name="l01355"></a>01355 <span class="comment">/*</span>
<a name="l01356"></a>01356 <span class="comment"> * extract_receive_buffer_header - extracts the header information:</span>
<a name="l01357"></a>01357 <span class="comment"> * length, serial_number, and packettype from the beginning of the</span>
<a name="l01358"></a>01358 <span class="comment"> * receive buffer.</span>
<a name="l01359"></a>01359 <span class="comment"> *</span>
<a name="l01360"></a>01360 <span class="comment"> * parameters:</span>
<a name="l01361"></a>01361 <span class="comment"> * short *length -- is the returns the number of chars in the buffer</span>
<a name="l01362"></a>01362 <span class="comment"> *</span>
<a name="l01363"></a>01363 <span class="comment"> * unsigned char *serial_number -- returns the serial number to be</span>
<a name="l01364"></a>01364 <span class="comment"> * assigned to the packet</span>
<a name="l01365"></a>01365 <span class="comment"> * unsigned char *packet_type -- returns the type number to be</span>
<a name="l01366"></a>01366 <span class="comment"> * assigned to the packet</span>
<a name="l01367"></a>01367 <span class="comment"> * unsigned char *buffer -- is the receive buffer</span>
<a name="l01368"></a>01368 <span class="comment"> */</span>
<a name="l01369"></a>01369 <span class="keywordtype">int</span> extract_receive_buffer_header(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *length,
<a name="l01370"></a>01370 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *serial_number,
<a name="l01371"></a>01371 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *packet_type,
<a name="l01372"></a>01372 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer);
<a name="l01373"></a>01373
<a name="l01374"></a>01374 <span class="comment">/*</span>
<a name="l01375"></a>01375 <span class="comment"> * init_send_buffer - sets the index to 4 which is the point</span>
<a name="l01376"></a>01376 <span class="comment"> * at which data should be inserted</span>
<a name="l01377"></a>01377 <span class="comment"> *</span>
<a name="l01378"></a>01378 <span class="comment"> * parameters:</span>
<a name="l01379"></a>01379 <span class="comment"> * unsigned short *index -- is the buffer index</span>
<a name="l01380"></a>01380 <span class="comment"> */</span>
<a name="l01381"></a>01381 <span class="keywordtype">int</span> init_send_buffer(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01382"></a>01382
<a name="l01383"></a>01383 <span class="comment">/*</span>
<a name="l01384"></a>01384 <span class="comment"> * stuff_send_buffer_header - loads the header information,</span>
<a name="l01385"></a>01385 <span class="comment"> * length,serial_number, and packettype into the beginning of the</span>
<a name="l01386"></a>01386 <span class="comment"> * buffer. It should be called after the data has been stuffed,</span>
<a name="l01387"></a>01387 <span class="comment"> * i.e. index represents the length of the packet.</span>
<a name="l01388"></a>01388 <span class="comment"> *</span>
<a name="l01389"></a>01389 <span class="comment"> * parameters:</span>
<a name="l01390"></a>01390 <span class="comment"> * int index -- is the buffer index which holds the number of chars</span>
<a name="l01391"></a>01391 <span class="comment"> * in the buffer</span>
<a name="l01392"></a>01392 <span class="comment"> * unsigned char serial_number -- holds the serial number to be</span>
<a name="l01393"></a>01393 <span class="comment"> * assigned to the packet</span>
<a name="l01394"></a>01394 <span class="comment"> * unsigned char packet_type -- holds the type number to be</span>
<a name="l01395"></a>01395 <span class="comment"> * assigned to the packet</span>
<a name="l01396"></a>01396 <span class="comment"> *</span>
<a name="l01397"></a>01397 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01398"></a>01398 <span class="comment"> */</span>
<a name="l01399"></a>01399 <span class="keywordtype">int</span> stuff_send_buffer_header(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> serial_number,
<a name="l01400"></a>01400 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> packet_type, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer);
<a name="l01401"></a>01401
<a name="l01402"></a>01402 <span class="comment">/*</span>
<a name="l01403"></a>01403 <span class="comment"> * stuffchar - stuffs a 1 byte char into the send buffer</span>
<a name="l01404"></a>01404 <span class="comment"> *</span>
<a name="l01405"></a>01405 <span class="comment"> * parameters:</span>
<a name="l01406"></a>01406 <span class="comment"> * signed char data -- is the char to be stuffed</span>
<a name="l01407"></a>01407 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01408"></a>01408 <span class="comment"> * unsigned short *index -- is the buffer index which will be incremented</span>
<a name="l01409"></a>01409 <span class="comment"> * to reflect the bytes stuffed into the buffer</span>
<a name="l01410"></a>01410 <span class="comment"> */</span>
<a name="l01411"></a>01411 <span class="keywordtype">int</span> stuffchar(<span class="keywordtype">signed</span> <span class="keywordtype">char</span> data, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01412"></a>01412
<a name="l01413"></a>01413 <span class="comment">/*</span>
<a name="l01414"></a>01414 <span class="comment"> * stuff2byteint - stuffs a short int(2 bytes) into the send buffer</span>
<a name="l01415"></a>01415 <span class="comment"> *</span>
<a name="l01416"></a>01416 <span class="comment"> * parameters:</span>
<a name="l01417"></a>01417 <span class="comment"> * signed int data -- is the value which will be split apart and stuffed</span>
<a name="l01418"></a>01418 <span class="comment"> * bytewise into the send buffer</span>
<a name="l01419"></a>01419 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01420"></a>01420 <span class="comment"> * unsigned short *index -- is the buffer index which will be incremented</span>
<a name="l01421"></a>01421 <span class="comment"> * to reflect the bytes stuffed into the buffer</span>
<a name="l01422"></a>01422 <span class="comment"> */</span>
<a name="l01423"></a>01423 <span class="keywordtype">int</span> stuff2byteint(<span class="keywordtype">signed</span> <span class="keywordtype">short</span> data,
<a name="l01424"></a>01424 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01425"></a>01425
<a name="l01426"></a>01426 <span class="comment">/*</span>
<a name="l01427"></a>01427 <span class="comment"> * stuff4byteint - stuffs a long int(4 bytes) into the send buffer</span>
<a name="l01428"></a>01428 <span class="comment"> *</span>
<a name="l01429"></a>01429 <span class="comment"> * parameters:</span>
<a name="l01430"></a>01430 <span class="comment"> * signed long data -- is the value which will be split apart and stuffed</span>
<a name="l01431"></a>01431 <span class="comment"> * bytewise into the send buffer</span>
<a name="l01432"></a>01432 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01433"></a>01433 <span class="comment"> * unsigned short *index -- is the buffer index which will be incremented</span>
<a name="l01434"></a>01434 <span class="comment"> * to reflect the bytes stuffed into the buffer</span>
<a name="l01435"></a>01435 <span class="comment"> */</span>
<a name="l01436"></a>01436 <span class="keywordtype">int</span> stuff4byteint(<span class="keywordtype">signed</span> <span class="keywordtype">long</span> data,
<a name="l01437"></a>01437 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01438"></a>01438
<a name="l01439"></a>01439 <span class="comment">/*</span>
<a name="l01440"></a>01440 <span class="comment"> * stuffuchar - stuffs an unsigned char into the send buffer</span>
<a name="l01441"></a>01441 <span class="comment"> *</span>
<a name="l01442"></a>01442 <span class="comment"> * parameters:</span>
<a name="l01443"></a>01443 <span class="comment"> * unsigned char data -- is the char to be stuffed</span>
<a name="l01444"></a>01444 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01445"></a>01445 <span class="comment"> * unsigned short *index -- is the buffer index which will be incremented</span>
<a name="l01446"></a>01446 <span class="comment"> * to reflect the bytes stuffed into the buffer</span>
<a name="l01447"></a>01447 <span class="comment"> */</span>
<a name="l01448"></a>01448 <span class="keywordtype">int</span> stuffuchar(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> data,
<a name="l01449"></a>01449 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01450"></a>01450
<a name="l01451"></a>01451 <span class="comment">/*</span>
<a name="l01452"></a>01452 <span class="comment"> * stuff2byteuint - stuffs an unsigned short int(2 bytes) into the send buffer</span>
<a name="l01453"></a>01453 <span class="comment"> *</span>
<a name="l01454"></a>01454 <span class="comment"> * parameters:</span>
<a name="l01455"></a>01455 <span class="comment"> * unsigned short data -- is the value which will be split apart and </span>
<a name="l01456"></a>01456 <span class="comment"> * stuffed bytewise into the send buffer</span>
<a name="l01457"></a>01457 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01458"></a>01458 <span class="comment"> * unsigned short *index -- is the buffer index which will be incremented</span>
<a name="l01459"></a>01459 <span class="comment"> * to reflect the bytes stuffed into the buffer</span>
<a name="l01460"></a>01460 <span class="comment"> */</span>
<a name="l01461"></a>01461 <span class="keywordtype">int</span> stuff2byteuint(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> data, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01462"></a>01462
<a name="l01463"></a>01463 <span class="comment">/*</span>
<a name="l01464"></a>01464 <span class="comment"> * stuff4byteuint - stuffs an unsigned long int(4 bytes) into the send buffer</span>
<a name="l01465"></a>01465 <span class="comment"> *</span>
<a name="l01466"></a>01466 <span class="comment"> * parameters:</span>
<a name="l01467"></a>01467 <span class="comment"> * unsigned long data -- is the value which will be split apart and stuffed</span>
<a name="l01468"></a>01468 <span class="comment"> * bytewise into the send buffer</span>
<a name="l01469"></a>01469 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01470"></a>01470 <span class="comment"> * unsigned short *index -- is the buffer index which will be incremented</span>
<a name="l01471"></a>01471 <span class="comment"> * to reflect the bytes stuffed into the buffer</span>
<a name="l01472"></a>01472 <span class="comment"> */</span>
<a name="l01473"></a>01473 <span class="keywordtype">int</span> stuff4byteuint(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> data, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01474"></a>01474
<a name="l01475"></a>01475 <span class="comment">/*</span>
<a name="l01476"></a>01476 <span class="comment"> * stuffdouble - stuffs a double(8 bytes) into the send buffer</span>
<a name="l01477"></a>01477 <span class="comment"> *</span>
<a name="l01478"></a>01478 <span class="comment"> * parameters:</span>
<a name="l01479"></a>01479 <span class="comment"> * double data -- is the value which will be split apart and stuffed</span>
<a name="l01480"></a>01480 <span class="comment"> * bytewise into the send buffer</span>
<a name="l01481"></a>01481 <span class="comment"> * unsigned char *buffer -- is the send buffer</span>
<a name="l01482"></a>01482 <span class="comment"> * unsigned short *index -- is the buffer index which will be incremented</span>
<a name="l01483"></a>01483 <span class="comment"> * to reflect the bytes stuffed into the buffer</span>
<a name="l01484"></a>01484 <span class="comment"> */</span>
<a name="l01485"></a>01485 <span class="keywordtype">int</span> stuffdouble(<span class="keywordtype">double</span> data, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01486"></a>01486
<a name="l01487"></a>01487 <span class="comment">/*</span>
<a name="l01488"></a>01488 <span class="comment"> * extractchar - extracts a char from the receive buffer</span>
<a name="l01489"></a>01489 <span class="comment"> *</span>
<a name="l01490"></a>01490 <span class="comment"> * parameters:</span>
<a name="l01491"></a>01491 <span class="comment"> * unsigned char *buffer -- is the receive buffer which holds the data</span>
<a name="l01492"></a>01492 <span class="comment"> * unsigned short *index -- is the receive buffer index which will be</span>
<a name="l01493"></a>01493 <span class="comment"> * incremented to reflect the position of the</span>
<a name="l01494"></a>01494 <span class="comment"> * next piece of data to be extracted</span>
<a name="l01495"></a>01495 <span class="comment"> */</span>
<a name="l01496"></a>01496 <span class="keywordtype">signed</span> <span class="keywordtype">char</span> extractchar(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01497"></a>01497
<a name="l01498"></a>01498 <span class="comment">/*</span>
<a name="l01499"></a>01499 <span class="comment"> * extract2byteint - extracts a short int(2 bytes) from the receive buffer</span>
<a name="l01500"></a>01500 <span class="comment"> *</span>
<a name="l01501"></a>01501 <span class="comment"> * parameters:</span>
<a name="l01502"></a>01502 <span class="comment"> * unsigned char *buffer -- is the receive buffer which holds the data</span>
<a name="l01503"></a>01503 <span class="comment"> * unsigned short *index -- is the receive buffer index which will be</span>
<a name="l01504"></a>01504 <span class="comment"> * incremented to reflect the position of the</span>
<a name="l01505"></a>01505 <span class="comment"> * next piece of data to be extracted</span>
<a name="l01506"></a>01506 <span class="comment"> */</span>
<a name="l01507"></a>01507 <span class="keywordtype">signed</span> <span class="keywordtype">short</span> extract2byteint(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01508"></a>01508
<a name="l01509"></a>01509 <span class="comment">/*</span>
<a name="l01510"></a>01510 <span class="comment"> * extract4byteint - extracts a long int(4 bytes) from the receive buffer</span>
<a name="l01511"></a>01511 <span class="comment"> *</span>
<a name="l01512"></a>01512 <span class="comment"> * parameters:</span>
<a name="l01513"></a>01513 <span class="comment"> * unsigned char *buffer -- is the receive buffer which holds the data</span>
<a name="l01514"></a>01514 <span class="comment"> * unsigned short *index -- is the receive buffer index which will be</span>
<a name="l01515"></a>01515 <span class="comment"> * incremented to reflect the position of the</span>
<a name="l01516"></a>01516 <span class="comment"> * next piece of data to be extracted</span>
<a name="l01517"></a>01517 <span class="comment"> */</span>
<a name="l01518"></a>01518 <span class="keywordtype">signed</span> <span class="keywordtype">long</span> extract4byteint(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01519"></a>01519
<a name="l01520"></a>01520 <span class="comment">/*</span>
<a name="l01521"></a>01521 <span class="comment"> * extractuchar - extracts an unsigned char from the receive buffer</span>
<a name="l01522"></a>01522 <span class="comment"> *</span>
<a name="l01523"></a>01523 <span class="comment"> * parameters:</span>
<a name="l01524"></a>01524 <span class="comment"> * unsigned char *buffer -- is the receive buffer which holds the data</span>
<a name="l01525"></a>01525 <span class="comment"> * unsigned short *index -- is the receive buffer index which will be</span>
<a name="l01526"></a>01526 <span class="comment"> * incremented to reflect the position of the</span>
<a name="l01527"></a>01527 <span class="comment"> * next piece of data to be extracted</span>
<a name="l01528"></a>01528 <span class="comment"> */</span>
<a name="l01529"></a>01529 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> extractuchar(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01530"></a>01530
<a name="l01531"></a>01531 <span class="comment">/*</span>
<a name="l01532"></a>01532 <span class="comment"> * extract2byteuint - extracts an unsigned short int(2 bytes) from the </span>
<a name="l01533"></a>01533 <span class="comment"> * receive buffer</span>
<a name="l01534"></a>01534 <span class="comment"> *</span>
<a name="l01535"></a>01535 <span class="comment"> * parameters:</span>
<a name="l01536"></a>01536 <span class="comment"> * unsigned char *buffer -- is the receive buffer which holds the data</span>
<a name="l01537"></a>01537 <span class="comment"> * unsigned short *index -- is the receive buffer index which will be</span>
<a name="l01538"></a>01538 <span class="comment"> * incremented to reflect the position of the</span>
<a name="l01539"></a>01539 <span class="comment"> * next piece of data to be extracted</span>
<a name="l01540"></a>01540 <span class="comment"> */</span>
<a name="l01541"></a>01541 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> extract2byteuint(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01542"></a>01542
<a name="l01543"></a>01543 <span class="comment">/*</span>
<a name="l01544"></a>01544 <span class="comment"> * extract4byteuint - extracts an unsigned long int(4 bytes) from the </span>
<a name="l01545"></a>01545 <span class="comment"> * receive buffer</span>
<a name="l01546"></a>01546 <span class="comment"> *</span>
<a name="l01547"></a>01547 <span class="comment"> * parameters:</span>
<a name="l01548"></a>01548 <span class="comment"> * unsigned char *buffer -- is the receive buffer which holds the data</span>
<a name="l01549"></a>01549 <span class="comment"> * unsigned short *index -- is the receive buffer index which will be</span>
<a name="l01550"></a>01550 <span class="comment"> * incremented to reflect the position of the</span>
<a name="l01551"></a>01551 <span class="comment"> * next piece of data to be extracted</span>
<a name="l01552"></a>01552 <span class="comment"> */</span>
<a name="l01553"></a>01553 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> extract4byteuint(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01554"></a>01554
<a name="l01555"></a>01555 <span class="comment">/*</span>
<a name="l01556"></a>01556 <span class="comment"> * extractdouble - extracts a double(8 bytes) from the receive buffer</span>
<a name="l01557"></a>01557 <span class="comment"> *</span>
<a name="l01558"></a>01558 <span class="comment"> * parameters:</span>
<a name="l01559"></a>01559 <span class="comment"> * unsigned char *buffer -- is the receive buffer which holds the data</span>
<a name="l01560"></a>01560 <span class="comment"> * unsigned short *index -- is the receive buffer index which will be</span>
<a name="l01561"></a>01561 <span class="comment"> * incremented to reflect the position of the</span>
<a name="l01562"></a>01562 <span class="comment"> * next piece of data to be extracted</span>
<a name="l01563"></a>01563 <span class="comment"> */</span>
<a name="l01564"></a>01564 <span class="keywordtype">double</span> extractdouble(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *index);
<a name="l01565"></a>01565
<a name="l01566"></a>01566 <span class="comment">/************************************************</span>
<a name="l01567"></a>01567 <span class="comment"> * *</span>
<a name="l01568"></a>01568 <span class="comment"> * Global variable access functions for Allegro * </span>
<a name="l01569"></a>01569 <span class="comment"> * Common Lisp interface *</span>
<a name="l01570"></a>01570 <span class="comment"> * *</span>
<a name="l01571"></a>01571 <span class="comment"> ************************************************/</span>
<a name="l01572"></a>01572
<a name="l01573"></a>01573 <span class="keywordtype">int</span> get_state(<span class="keywordtype">long</span> state[NUM_STATE]);
<a name="l01574"></a>01574
<a name="l01575"></a>01575 <span class="keywordtype">int</span> get_laser(<span class="keywordtype">int</span> laser[2*NUM_LASER+1]);
<a name="l01576"></a>01576
<a name="l01577"></a>01577 <span class="keywordtype">int</span> get_mask(<span class="keywordtype">int</span> mask[NUM_MASK]);
<a name="l01578"></a>01578
<a name="l01579"></a>01579 <span class="keywordtype">int</span> set_mask(<span class="keywordtype">int</span> mask[NUM_MASK]);
<a name="l01580"></a>01580
<a name="l01581"></a>01581 <span class="keywordtype">int</span> set_server_machine_name(<span class="keywordtype">char</span> *sname);
<a name="l01582"></a>01582
<a name="l01583"></a>01583 <span class="keywordtype">int</span> set_serv_tcp_port(<span class="keywordtype">int</span> port);
<a name="l01584"></a>01584
<a name="l01585"></a>01585
<a name="l01586"></a>01586 <span class="comment">/*************************************************</span>
<a name="l01587"></a>01587 <span class="comment"> * *</span>
<a name="l01588"></a>01588 <span class="comment"> * Functions for the attachment of position *</span>
<a name="l01589"></a>01589 <span class="comment"> * data to sensory readings. *</span>
<a name="l01590"></a>01590 <span class="comment"> * *</span>
<a name="l01591"></a>01591 <span class="comment"> *************************************************/</span>
<a name="l01592"></a>01592
<a name="l01593"></a>01593 <span class="comment">/***************</span>
<a name="l01594"></a>01594 <span class="comment"> * FUNCTION: posDataRequest</span>
<a name="l01595"></a>01595 <span class="comment"> * PURPOSE: request position information for sensors</span>
<a name="l01596"></a>01596 <span class="comment"> * ARGUMENTS: int posRequest : </span>
<a name="l01597"></a>01597 <span class="comment"> * The argument of this function specifies the sensors </span>
<a name="l01598"></a>01598 <span class="comment"> * for which the position information (PosData) should </span>
<a name="l01599"></a>01599 <span class="comment"> * be attached to the sensory reading.</span>
<a name="l01600"></a>01600 <span class="comment"> * Its value is obtained by ORing the desired defines. </span>
<a name="l01601"></a>01601 <span class="comment"> * EXAMPLE: To attach PosData to sonars and laser:</span>
<a name="l01602"></a>01602 <span class="comment"> * posDataRequest ( POS_SONAR | POS_LASER );</span>
<a name="l01603"></a>01603 <span class="comment"> * ALGORITHM: currently sets the global variable Smask[0] and</span>
<a name="l01604"></a>01604 <span class="comment"> * then calls ct() to transmit the change to the server</span>
<a name="l01605"></a>01605 <span class="comment"> * RETURN: TRUE if the argument was correct, else FALSE</span>
<a name="l01606"></a>01606 <span class="comment"> * SIDE EFFECT: Smask[0]</span>
<a name="l01607"></a>01607 <span class="comment"> * CALLS: </span>
<a name="l01608"></a>01608 <span class="comment"> * CALLED BY: </span>
<a name="l01609"></a>01609 <span class="comment"> ***************/</span>
<a name="l01610"></a>01610 <span class="keywordtype">int</span> posDataRequest ( <span class="keywordtype">int</span> posRequest );
<a name="l01611"></a>01611
<a name="l01612"></a>01612
<a name="l01613"></a>01613 <span class="comment">/***************</span>
<a name="l01614"></a>01614 <span class="comment"> * FUNCTION: posDataCheck</span>
<a name="l01615"></a>01615 <span class="comment"> * PURPOSE: return the sensors for which the PosData attachment</span>
<a name="l01616"></a>01616 <span class="comment"> * is currently requested. </span>
<a name="l01617"></a>01617 <span class="comment"> * ARGUMENTS: None</span>
<a name="l01618"></a>01618 <span class="comment"> * ALGORITHM: returns the usedSmask that is not globally accessible</span>
<a name="l01619"></a>01619 <span class="comment"> * (is set by ct() to be the value of Smask[0])</span>
<a name="l01620"></a>01620 <span class="comment"> * RETURN: int, see posDataRequest</span>
<a name="l01621"></a>01621 <span class="comment"> * the macros POS_*_P can be used to examine the value</span>
<a name="l01622"></a>01622 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01623"></a>01623 <span class="comment"> * CALLS: </span>
<a name="l01624"></a>01624 <span class="comment"> * CALLED BY: </span>
<a name="l01625"></a>01625 <span class="comment"> ***************/</span>
<a name="l01626"></a>01626 <span class="keywordtype">int</span> posDataCheck ( <span class="keywordtype">void</span> );
<a name="l01627"></a>01627
<a name="l01628"></a>01628
<a name="l01629"></a>01629 <span class="comment">/***************</span>
<a name="l01630"></a>01630 <span class="comment"> * FUNCTION: posInfraredRingGet</span>
<a name="l01631"></a>01631 <span class="comment"> * PURPOSE: copy the PosData for all infrareds to accessible memory</span>
<a name="l01632"></a>01632 <span class="comment"> * ARGUMENTS: PosData posData [INFRAREDS] :</span>
<a name="l01633"></a>01633 <span class="comment"> * an array of PosData structures that is filled with </span>
<a name="l01634"></a>01634 <span class="comment"> * PosData. The position information for each infrared</span>
<a name="l01635"></a>01635 <span class="comment"> * containts the configuration of the robot at the time </span>
<a name="l01636"></a>01636 <span class="comment"> * of the sensory reading and a timestamp for the </span>
<a name="l01637"></a>01637 <span class="comment"> * configuration and the senosry reading .</span>
<a name="l01638"></a>01638 <span class="comment"> * ALGORITHM: copies blocks of memory</span>
<a name="l01639"></a>01639 <span class="comment"> * RETURN: int, return always TRUE</span>
<a name="l01640"></a>01640 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01641"></a>01641 <span class="comment"> * CALLS: </span>
<a name="l01642"></a>01642 <span class="comment"> * CALLED BY: </span>
<a name="l01643"></a>01643 <span class="comment"> ***************/</span>
<a name="l01644"></a>01644 <span class="keywordtype">int</span> posInfraredRingGet ( <a class="code" href="struct__PosData.html">PosData</a> posData[INFRAREDS] );
<a name="l01645"></a>01645
<a name="l01646"></a>01646
<a name="l01647"></a>01647 <span class="comment">/***************</span>
<a name="l01648"></a>01648 <span class="comment"> * FUNCTION: posInfraredGet</span>
<a name="l01649"></a>01649 <span class="comment"> * PURPOSE: copy the PosData for a specific infrared to accessible </span>
<a name="l01650"></a>01650 <span class="comment"> * memory</span>
<a name="l01651"></a>01651 <span class="comment"> * ARGUMENTS: PosData *posData : the memory location that the information</span>
<a name="l01652"></a>01652 <span class="comment"> * will be copied to </span>
<a name="l01653"></a>01653 <span class="comment"> * int infraredNumber : the number of the infrared</span>
<a name="l01654"></a>01654 <span class="comment"> * ALGORITHM: copies block of memory</span>
<a name="l01655"></a>01655 <span class="comment"> * RETURN: int, always returns TRUE</span>
<a name="l01656"></a>01656 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01657"></a>01657 <span class="comment"> * CALLS: </span>
<a name="l01658"></a>01658 <span class="comment"> * CALLED BY: </span>
<a name="l01659"></a>01659 <span class="comment"> ***************/</span>
<a name="l01660"></a>01660 <span class="keywordtype">int</span> posInfraredGet ( <a class="code" href="struct__PosData.html">PosData</a> *posData , <span class="keywordtype">int</span> infraredNumber );
<a name="l01661"></a>01661
<a name="l01662"></a>01662
<a name="l01663"></a>01663 <span class="comment">/***************</span>
<a name="l01664"></a>01664 <span class="comment"> * FUNCTION: posSonarRingGet</span>
<a name="l01665"></a>01665 <span class="comment"> * PURPOSE: copy the PosData for all sonars to accessible memory</span>
<a name="l01666"></a>01666 <span class="comment"> * ARGUMENTS: PosData posData [SONARS] :</span>
<a name="l01667"></a>01667 <span class="comment"> * an array of PosData structures that is filled with </span>
<a name="l01668"></a>01668 <span class="comment"> * PosData. The position information for each sonar</span>
<a name="l01669"></a>01669 <span class="comment"> * containts the configuration of the robot at the time </span>
<a name="l01670"></a>01670 <span class="comment"> * of the sensory reading and a timestamp for the </span>
<a name="l01671"></a>01671 <span class="comment"> * configuration and the senosry reading .</span>
<a name="l01672"></a>01672 <span class="comment"> * ALGORITHM: copies blocks of memory</span>
<a name="l01673"></a>01673 <span class="comment"> * RETURN: int, return always TRUE</span>
<a name="l01674"></a>01674 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01675"></a>01675 <span class="comment"> * CALLS: </span>
<a name="l01676"></a>01676 <span class="comment"> * CALLED BY: </span>
<a name="l01677"></a>01677 <span class="comment"> ***************/</span>
<a name="l01678"></a>01678 <span class="keywordtype">int</span> posSonarRingGet ( <a class="code" href="struct__PosData.html">PosData</a> posData[SONARS] );
<a name="l01679"></a>01679
<a name="l01680"></a>01680
<a name="l01681"></a>01681 <span class="comment">/***************</span>
<a name="l01682"></a>01682 <span class="comment"> * FUNCTION: posSonarGet</span>
<a name="l01683"></a>01683 <span class="comment"> * PURPOSE: copy the PosData for a specific sonar to accessible memory</span>
<a name="l01684"></a>01684 <span class="comment"> * ARGUMENTS: PosData *posData : the memory location that the information</span>
<a name="l01685"></a>01685 <span class="comment"> * will be copied to </span>
<a name="l01686"></a>01686 <span class="comment"> * int sonarNumber : the number of the sonar </span>
<a name="l01687"></a>01687 <span class="comment"> * ALGORITHM: copies block of memory</span>
<a name="l01688"></a>01688 <span class="comment"> * RETURN: int, always returns TRUE</span>
<a name="l01689"></a>01689 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01690"></a>01690 <span class="comment"> * CALLS: </span>
<a name="l01691"></a>01691 <span class="comment"> * CALLED BY: </span>
<a name="l01692"></a>01692 <span class="comment"> ***************/</span>
<a name="l01693"></a>01693 <span class="keywordtype">int</span> posSonarGet ( <a class="code" href="struct__PosData.html">PosData</a> *posData , <span class="keywordtype">int</span> sonarNumber );
<a name="l01694"></a>01694
<a name="l01695"></a>01695
<a name="l01696"></a>01696 <span class="comment">/***************</span>
<a name="l01697"></a>01697 <span class="comment"> * FUNCTION: posBumperGet</span>
<a name="l01698"></a>01698 <span class="comment"> * PURPOSE: copy PosData for the bumper to accessible memory</span>
<a name="l01699"></a>01699 <span class="comment"> * ARGUMENTS: PosData *posData : where the data is copied to </span>
<a name="l01700"></a>01700 <span class="comment"> * ALGORITHM: copies a block of memory</span>
<a name="l01701"></a>01701 <span class="comment"> * RETURN: int, always returns TRUE</span>
<a name="l01702"></a>01702 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01703"></a>01703 <span class="comment"> * CALLS: </span>
<a name="l01704"></a>01704 <span class="comment"> * CALLED BY: </span>
<a name="l01705"></a>01705 <span class="comment"> * NOTE: The bumper differs from other sensors in that the </span>
<a name="l01706"></a>01706 <span class="comment"> * posData is only updated after one of the bumper sensors </span>
<a name="l01707"></a>01707 <span class="comment"> * change its value from zero to one. This means that the </span>
<a name="l01708"></a>01708 <span class="comment"> * posData for the bumper always contains the position and </span>
<a name="l01709"></a>01709 <span class="comment"> * timeStamps of the latest hit, or undefined information </span>
<a name="l01710"></a>01710 <span class="comment"> * if the bumper was not hit yet.</span>
<a name="l01711"></a>01711 <span class="comment"> ***************/</span>
<a name="l01712"></a>01712 <span class="keywordtype">int</span> posBumperGet ( <a class="code" href="struct__PosData.html">PosData</a> *posData );
<a name="l01713"></a>01713
<a name="l01714"></a>01714
<a name="l01715"></a>01715 <span class="comment">/***************</span>
<a name="l01716"></a>01716 <span class="comment"> * FUNCTION: posLaserGet</span>
<a name="l01717"></a>01717 <span class="comment"> * PURPOSE: copy PosData for the laser to accessible memory</span>
<a name="l01718"></a>01718 <span class="comment"> * ARGUMENTS: PosData *posData : where the data is copied to </span>
<a name="l01719"></a>01719 <span class="comment"> * ALGORITHM: copies a block of memory</span>
<a name="l01720"></a>01720 <span class="comment"> * RETURN: int, always returns TRUE</span>
<a name="l01721"></a>01721 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01722"></a>01722 <span class="comment"> * CALLS: </span>
<a name="l01723"></a>01723 <span class="comment"> * CALLED BY: </span>
<a name="l01724"></a>01724 <span class="comment"> * NOTE: The laser is updated at a frequency of 30Hz.</span>
<a name="l01725"></a>01725 <span class="comment"> ***************/</span>
<a name="l01726"></a>01726 <span class="keywordtype">int</span> posLaserGet ( <a class="code" href="struct__PosData.html">PosData</a> *posData );
<a name="l01727"></a>01727
<a name="l01728"></a>01728
<a name="l01729"></a>01729 <span class="comment">/***************</span>
<a name="l01730"></a>01730 <span class="comment"> * FUNCTION: posCompassGet</span>
<a name="l01731"></a>01731 <span class="comment"> * PURPOSE: copy PosData for the compass to accessible memory</span>
<a name="l01732"></a>01732 <span class="comment"> * ARGUMENTS: PosData *posData : where the data is copied to </span>
<a name="l01733"></a>01733 <span class="comment"> * ALGORITHM: copies a block of memory</span>
<a name="l01734"></a>01734 <span class="comment"> * RETURN: int, always returns TRUE</span>
<a name="l01735"></a>01735 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01736"></a>01736 <span class="comment"> * CALLS: </span>
<a name="l01737"></a>01737 <span class="comment"> * CALLED BY: </span>
<a name="l01738"></a>01738 <span class="comment"> * NOTE: The compass is updated ad a frequency of 10Hz.</span>
<a name="l01739"></a>01739 <span class="comment"> ***************/</span>
<a name="l01740"></a>01740 <span class="keywordtype">int</span> posCompassGet ( <a class="code" href="struct__PosData.html">PosData</a> *posData );
<a name="l01741"></a>01741
<a name="l01742"></a>01742
<a name="l01743"></a>01743 <span class="comment">/***************</span>
<a name="l01744"></a>01744 <span class="comment"> * FUNCTION: posTimeGet</span>
<a name="l01745"></a>01745 <span class="comment"> * PURPOSE: get the PosData time (Intellisys 100) in milliseconds</span>
<a name="l01746"></a>01746 <span class="comment"> * ARGUMENTS: None</span>
<a name="l01747"></a>01747 <span class="comment"> * ALGORITHM: ---</span>
<a name="l01748"></a>01748 <span class="comment"> * RETURN: int </span>
<a name="l01749"></a>01749 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01750"></a>01750 <span class="comment"> * CALLS: </span>
<a name="l01751"></a>01751 <span class="comment"> * CALLED BY: </span>
<a name="l01752"></a>01752 <span class="comment"> * NOTE: The resolution of this timer is 16.4 milliseconds;</span>
<a name="l01753"></a>01753 <span class="comment"> * the timer starts out at zero when the system is </span>
<a name="l01754"></a>01754 <span class="comment"> * turned on and will flow over after 49 days.</span>
<a name="l01755"></a>01755 <span class="comment"> ***************/</span>
<a name="l01756"></a>01756 <span class="keywordtype">int</span> posTimeGet ( <span class="keywordtype">void</span> );
<a name="l01757"></a>01757
<a name="l01758"></a>01758
<a name="l01759"></a>01759 <span class="comment">/*************************************************</span>
<a name="l01760"></a>01760 <span class="comment"> * *</span>
<a name="l01761"></a>01761 <span class="comment"> * Functions to determine the charge level *</span>
<a name="l01762"></a>01762 <span class="comment"> * of the batteries for the cpu and the motors. *</span>
<a name="l01763"></a>01763 <span class="comment"> * *</span>
<a name="l01764"></a>01764 <span class="comment"> *************************************************/</span>
<a name="l01765"></a>01765
<a name="l01766"></a>01766 <span class="comment">/***************</span>
<a name="l01767"></a>01767 <span class="comment"> * FUNCTION: voltCpuGet</span>
<a name="l01768"></a>01768 <span class="comment"> * PURPOSE: get the voltage of the power supply for the CPU</span>
<a name="l01769"></a>01769 <span class="comment"> * ARGUMENTS: None</span>
<a name="l01770"></a>01770 <span class="comment"> * ALGORITHM: ---</span>
<a name="l01771"></a>01771 <span class="comment"> * RETURN: float (the voltage in volt)</span>
<a name="l01772"></a>01772 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01773"></a>01773 <span class="comment"> * CALLS: </span>
<a name="l01774"></a>01774 <span class="comment"> * CALLED BY: </span>
<a name="l01775"></a>01775 <span class="comment"> * NOTE: This should never drop below 10.8 volts.</span>
<a name="l01776"></a>01776 <span class="comment"> ***************/</span>
<a name="l01777"></a>01777 <span class="keywordtype">float</span> voltCpuGet ( <span class="keywordtype">void</span> );
<a name="l01778"></a>01778
<a name="l01779"></a>01779
<a name="l01780"></a>01780 <span class="comment">/***************</span>
<a name="l01781"></a>01781 <span class="comment"> * FUNCTION: voltMotorGet</span>
<a name="l01782"></a>01782 <span class="comment"> * PURPOSE: get the voltage of the power supply for the motors</span>
<a name="l01783"></a>01783 <span class="comment"> * ARGUMENTS: None</span>
<a name="l01784"></a>01784 <span class="comment"> * ALGORITHM: ---</span>
<a name="l01785"></a>01785 <span class="comment"> * RETURN: float (the voltage in volt)</span>
<a name="l01786"></a>01786 <span class="comment"> * SIDE EFFECT: </span>
<a name="l01787"></a>01787 <span class="comment"> * CALLS: </span>
<a name="l01788"></a>01788 <span class="comment"> * CALLED BY: </span>
<a name="l01789"></a>01789 <span class="comment"> * NOTE: This should never drop below 10.8 volts.</span>
<a name="l01790"></a>01790 <span class="comment"> * Returns average of the two motor batteries.</span>
<a name="l01791"></a>01791 <span class="comment"> ***************/</span>
<a name="l01792"></a>01792 <span class="keywordtype">float</span> voltMotorGet ( <span class="keywordtype">void</span> );
<a name="l01793"></a>01793
<a name="l01794"></a>01794 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l01795"></a>01795 <span class="preprocessor"></span>}
<a name="l01796"></a>01796 <span class="preprocessor">#endif</span>
<a name="l01797"></a>01797 <span class="preprocessor"></span>
<a name="l01798"></a>01798 <span class="preprocessor">#endif </span><span class="comment">/* _HOST_CLIENT_NCLIENT_H_ */</span>
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