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<h1>create_comms.h</h1> </div>
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<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"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2006 -</span>
<a name="l00004"></a>00004 <span class="comment"> * Brian Gerkey</span>
<a name="l00005"></a>00005 <span class="comment"> * </span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="preprocessor">#ifndef CREATE_COMMS_H</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_COMMS_H</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span>
<a name="l00026"></a>00026 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00028"></a>00028 <span class="preprocessor">#endif</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include <limits.h></span>
<a name="l00031"></a>00031
<a name="l00032"></a>00032 <span class="comment">/* command opcodes */</span>
<a name="l00033"></a>00033 <span class="preprocessor">#define CREATE_OPCODE_START 128</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_BAUD 129</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_SAFE 131</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_FULL 132</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_SPOT 134</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_COVER 135</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_DEMO 136</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_DRIVE 137</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_MOTORS 138</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_LEDS 139</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_SONG 140</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_PLAY 141</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_SENSORS 142</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_COVERDOCK 143</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_PWM_MOTORS 144</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_DRIVE_WHEELS 145</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_DIGITAL_OUTPUTS 147</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_STREAM 148</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_QUERY_LIST 149</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_DO_STREAM 150</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_SEND_IR_CHAR 151</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_SCRIPT 152</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_PLAY_SCRIPT 153</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_SHOW_SCRIPT 154</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_WAIT_TIME 155</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_WAIT_DISTANCE 156</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_WAIT_ANGLE 157</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_OPCODE_WAIT_EVENT 158</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span>
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="preprocessor">#define CREATE_DELAY_MODECHANGE_MS 20</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00065"></a>00065 <span class="preprocessor">#define CREATE_MODE_OFF 0</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_MODE_PASSIVE 1</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_MODE_SAFE 2</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_MODE_FULL 3</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span>
<a name="l00070"></a>00070 <span class="preprocessor">#define CREATE_TVEL_MAX_MM_S 500 </span>
<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_RADIUS_MAX_MM 2000</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span>
<a name="l00073"></a>00073 <span class="preprocessor">#define CREATE_SENSOR_PACKET_SIZE 26</span>
<a name="l00074"></a>00074 <span class="preprocessor"></span>
<a name="l00075"></a>00075 <span class="preprocessor">#define CREATE_CHARGING_NOT 0</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_CHARGING_RECOVERY 1</span>
<a name="l00077"></a>00077 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_CHARGING_CHARGING 2</span>
<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_CHARGING_TRICKLE 3</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_CHARGING_WAITING 4</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define CREATE_CHARGING_ERROR 5</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span>
<a name="l00082"></a>00082 <span class="preprocessor">#define CREATE_AXLE_LENGTH 0.258</span>
<a name="l00083"></a>00083 <span class="preprocessor"></span>
<a name="l00084"></a>00084 <span class="preprocessor">#define CREATE_DIAMETER 0.33</span>
<a name="l00085"></a>00085 <span class="preprocessor"></span>
<a name="l00086"></a>00086 <span class="preprocessor">#define CREATE_BUMPER_XOFFSET 0.05</span>
<a name="l00087"></a>00087 <span class="preprocessor"></span>
<a name="l00088"></a>00088 <span class="preprocessor">#ifndef MIN</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span><span class="preprocessor"> #define MIN(a,b) ((a < b) ? (a) : (b))</span>
<a name="l00090"></a>00090 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00091"></a>00091 <span class="preprocessor"></span><span class="preprocessor">#ifndef MAX</span>
<a name="l00092"></a>00092 <span class="preprocessor"></span><span class="preprocessor"> #define MAX(a,b) ((a > b) ? (a) : (b))</span>
<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00094"></a>00094 <span class="preprocessor"></span><span class="preprocessor">#ifndef NORMALIZE</span>
<a name="l00095"></a>00095 <span class="preprocessor"></span><span class="preprocessor"> #define NORMALIZE(z) atan2(sin(z), cos(z))</span>
<a name="l00096"></a>00096 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00097"></a>00097 <span class="preprocessor"></span>
<a name="l00098"></a><a class="code" href="structcreate__comm__t.html">00098</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00099"></a>00099 {
<a name="l00100"></a>00100 <span class="comment">/* Serial port to which the robot is connected */</span>
<a name="l00101"></a>00101 <span class="keywordtype">char</span> serial_port[PATH_MAX];
<a name="l00102"></a>00102 <span class="comment">/* File descriptor associated with serial connection (-1 if no valid</span>
<a name="l00103"></a>00103 <span class="comment"> * connection) */</span>
<a name="l00104"></a>00104 <span class="keywordtype">int</span> fd;
<a name="l00105"></a>00105 <span class="comment">/* Current operation mode; one of CREATE_MODE_* */</span>
<a name="l00106"></a>00106 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> mode;
<a name="l00107"></a>00107 <span class="comment">/* Integrated odometric position [m m rad] */</span>
<a name="l00108"></a>00108 <span class="keywordtype">double</span> ox, oy, oa;
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment">/* Various Boolean flags */</span>
<a name="l00111"></a>00111 <span class="keywordtype">int</span> bumper_left, bumper_right;
<a name="l00112"></a>00112 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> wheeldrop_caster, wheeldrop_left, wheeldrop_right;
<a name="l00113"></a>00113 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> wall;
<a name="l00114"></a>00114 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> cliff_left, cliff_frontleft, cliff_frontright, cliff_right;
<a name="l00115"></a>00115 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> virtual_wall;
<a name="l00116"></a>00116 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> overcurrent_driveleft, overcurrent_driveright;
<a name="l00117"></a>00117 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> overcurrent_mainbrush, overcurrent_sidebrush;
<a name="l00118"></a>00118 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> overcurrent_vacuum;
<a name="l00119"></a>00119 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> dirtdetector_right, dirtdetector_left;
<a name="l00120"></a>00120 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> remote_opcode;
<a name="l00121"></a>00121 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> button_power, button_spot, button_clean, button_max;
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment">/* One of CREATE_CHARGING_* */</span>
<a name="l00124"></a>00124 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> charging_state;
<a name="l00125"></a>00125 <span class="comment">/* Volts */</span>
<a name="l00126"></a>00126 <span class="keywordtype">double</span> voltage;
<a name="l00127"></a>00127 <span class="comment">/* Amps */</span>
<a name="l00128"></a>00128 <span class="keywordtype">double</span> current;
<a name="l00129"></a>00129 <span class="comment">/* degrees C */</span>
<a name="l00130"></a>00130 <span class="keywordtype">double</span> temperature;
<a name="l00131"></a>00131 <span class="comment">/* Ah */</span>
<a name="l00132"></a>00132 <span class="keywordtype">double</span> charge;
<a name="l00133"></a>00133 <span class="comment">/* Capacity */</span>
<a name="l00134"></a>00134 <span class="keywordtype">double</span> capacity;
<a name="l00135"></a>00135 } <a class="code" href="structcreate__comm__t.html">create_comm_t</a>;
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <a class="code" href="structcreate__comm__t.html">create_comm_t</a>* create_create(<span class="keyword">const</span> <span class="keywordtype">char</span>* serial_port);
<a name="l00138"></a>00138 <span class="keywordtype">void</span> create_destroy(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r);
<a name="l00139"></a>00139 <span class="keywordtype">int</span> create_open(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> fullcontrol);
<a name="l00140"></a>00140 <span class="keywordtype">int</span> create_init(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> fullcontrol);
<a name="l00141"></a>00141 <span class="keywordtype">int</span> create_close(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r);
<a name="l00142"></a>00142 <span class="keywordtype">int</span> create_set_speeds(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r, <span class="keywordtype">double</span> tv, <span class="keywordtype">double</span> rv);
<a name="l00143"></a>00143 <span class="keywordtype">int</span> create_parse_sensor_packet(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r,
<a name="l00144"></a>00144 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buf, <span class="keywordtype">size_t</span> buflen);
<a name="l00145"></a>00145 <span class="keywordtype">int</span> create_get_sensors(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r, <span class="keywordtype">int</span> timeout);
<a name="l00146"></a>00146 <span class="keywordtype">void</span> create_print(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r);
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="keywordtype">int</span> create_set_song(<a class="code" href="structcreate__comm__t.html">create_comm_t</a>* r, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> songNumber,
<a name="l00149"></a>00149 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> songLength, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *notes,
<a name="l00150"></a>00150 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *noteLengths);
<a name="l00151"></a>00151 <span class="keywordtype">int</span> create_play_song(<a class="code" href="structcreate__comm__t.html">create_comm_t</a> *r, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> songNumber);
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keywordtype">int</span> create_vacuum(<a class="code" href="structcreate__comm__t.html">create_comm_t</a> *r, <span class="keywordtype">int</span> state);
<a name="l00154"></a>00154 <span class="keywordtype">int</span> create_set_leds(<a class="code" href="structcreate__comm__t.html">create_comm_t</a> *r, uint8_t dirt_detect, uint8_t <a class="code" href="group__player__clientlib__utility.html#gaa6c2b569d3d0e6c174a49e8ec1aac796" title="Return the maximum of a, b.">max</a>,
<a name="l00155"></a>00155 uint8_t clean, uint8_t spot, uint8_t status,
<a name="l00156"></a>00156 uint8_t power_color, uint8_t power_intensity );
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="keywordtype">int</span> create_run_demo(<a class="code" href="structcreate__comm__t.html">create_comm_t</a> *r, uint8_t num);
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00161"></a>00161 <span class="preprocessor"></span>}
<a name="l00162"></a>00162 <span class="preprocessor">#endif</span>
<a name="l00163"></a>00163 <span class="preprocessor"></span>
<a name="l00164"></a>00164 <span class="preprocessor">#endif</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span>
</pre></div></div>
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Last updated 12 September 2005 21:38:45
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src="http://www.w3.org/Icons/valid-html401"
alt="Valid HTML 4.01!"></a>
<a href="http://jigsaw.w3.org/css-validator/">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="http://jigsaw.w3.org/css-validator/images/vcss"
alt="Valid CSS!">
</a>
-->
</tr>
</table>
</div>
</tr>
</table>
</BODY>
</HTML>
distrib
>
Fedora
>
14
>
x86_64
>
media
>
updates
>
by-pkgid
>
727fa15453fcace956b835e2377d4269
>
files
>
419
