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<h1>mica2.h</h1> </div>
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<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 Radu Bogdan Rusu (rusu@cs.tum.edu)</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00006"></a>00006 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00007"></a>00007 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version.</span>
<a name="l00009"></a>00009 <span class="comment"> *</span>
<a name="l00010"></a>00010 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00011"></a>00011 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00013"></a>00013 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00016"></a>00016 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00017"></a>00017 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020
<a name="l00021"></a>00021 <span class="comment">/*</span>
<a name="l00022"></a>00022 <span class="comment"> * TinyOS data structures.</span>
<a name="l00023"></a>00023 <span class="comment"> * Portions borrowed from the TinyOS project (http://www.tinyos.net), </span>
<a name="l00024"></a>00024 <span class="comment"> * distributed according to the Intel Open Source License.</span>
<a name="l00025"></a>00025 <span class="comment"> */</span>
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="preprocessor">#include <vector></span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="comment">// Change to 19200 for Mica2DOT (!)</span>
<a name="l00030"></a>00030 <span class="preprocessor">#define DEFAULT_MICA2_PORT "/dev/ttyS0"</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define DEFAULT_MICA2_RATE B57600</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="comment">// ---[ Node calibration values ]---</span>
<a name="l00034"></a>00034 <span class="keyword">class </span>NodeCalibrationValues
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">public</span>:
<a name="l00037"></a>00037 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> node_id; <span class="comment">// node identifier</span>
<a name="l00038"></a>00038 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> group_id; <span class="comment">// group identifier</span>
<a name="l00039"></a>00039 <span class="keywordtype">int</span> c_values[6]; <span class="comment">// calibration values</span>
<a name="l00040"></a>00040 };
<a name="l00041"></a>00041 <span class="keyword">typedef</span> std::vector<NodeCalibrationValues> NCV;
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">// ---[ MTS310 data packet structure ]---</span>
<a name="l00044"></a><a class="code" href="structMTS310Data.html">00044</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> vref;
<a name="l00047"></a>00047 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> thermistor;
<a name="l00048"></a>00048 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> light;
<a name="l00049"></a>00049 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> mic;
<a name="l00050"></a>00050 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> accelX;
<a name="l00051"></a>00051 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> accelY;
<a name="l00052"></a>00052 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> magX;
<a name="l00053"></a>00053 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> magY;
<a name="l00054"></a>00054 } <a class="code" href="structMTS310Data.html">MTS310Data</a>;
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="comment">// ---[ MTS510 data packet structure ]---</span>
<a name="l00057"></a><a class="code" href="structMTS510Data.html">00057</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> light;
<a name="l00060"></a>00060 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> accelX;
<a name="l00061"></a>00061 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> accelY;
<a name="l00062"></a>00062 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> sound[5];
<a name="l00063"></a>00063 } <a class="code" href="structMTS510Data.html">MTS510Data</a>;
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="comment">// ---[ M1-mini RFID reader command packet structure ]---</span>
<a name="l00066"></a>00066 <span class="comment">// (Attn: ASCII mode ! make time to change to BINARY!)</span>
<a name="l00067"></a><a class="code" href="structM1miniCommand.html">00067</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> flags [2];
<a name="l00070"></a>00070 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> request[2];
<a name="l00071"></a>00071 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> type [2];
<a name="l00072"></a>00072 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> TID [16];
<a name="l00073"></a>00073 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> start [2];
<a name="l00074"></a>00074 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> length [2];
<a name="l00075"></a>00075 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> data [8];
<a name="l00076"></a>00076 } <a class="code" href="structM1miniCommand.html">M1miniCommand</a>;
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="comment">// ---[ Generic sensor data packet structure ]---</span>
<a name="l00079"></a><a class="code" href="structSensorPacket.html">00079</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> board_id; <span class="comment">// unique sensorboard id</span>
<a name="l00082"></a>00082 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> packet_id; <span class="comment">// unique packet type for sensorboard</span>
<a name="l00083"></a>00083 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> node_id; <span class="comment">// ID of originating node</span>
<a name="l00084"></a>00084 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> parent; <span class="comment">// ID of node's parent</span>
<a name="l00085"></a>00085 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> data[12]; <span class="comment">// data payload defaults to 24 bytes</span>
<a name="l00086"></a>00086 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> terminator; <span class="comment">// reserved for null terminator</span>
<a name="l00087"></a>00087 } <a class="code" href="structSensorPacket.html">SensorPacket</a>;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment">// ---[ The standard header for all TinyOS active messages ]---</span>
<a name="l00090"></a>00090 <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> addr;
<a name="l00093"></a>00093 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> type;
<a name="l00094"></a>00094 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> group;
<a name="l00095"></a>00095 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> length;
<a name="l00096"></a>00096 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) TOSMsgHeader;
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="comment">// ---[ Packet structure for XCOMMAND ]---</span>
<a name="l00099"></a>00099 typedef struct
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> cmd;
<a name="l00102"></a>00102 <span class="keyword">union</span>
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> new_rate; <span class="comment">// XCOMMAND_SET_RATE</span>
<a name="l00105"></a>00105 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> node_id; <span class="comment">// XCOMMAND_SET_NODEID</span>
<a name="l00106"></a>00106 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> group; <span class="comment">// XCOMMAND_SET_GROUP</span>
<a name="l00107"></a>00107 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> rf_power; <span class="comment">// XCOMMAND_SET_RF_POWER</span>
<a name="l00108"></a>00108 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> rf_channel; <span class="comment">// XCOMMAND_SET_RF_CHANNEL</span>
<a name="l00109"></a>00109 <span class="keyword">struct</span>
<a name="l00110"></a>00110 {
<a name="l00111"></a>00111 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> device; <span class="comment">// device: LEDs, speaker, etc</span>
<a name="l00112"></a>00112 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> state; <span class="comment">// state : on/off, etc</span>
<a name="l00113"></a>00113 } actuate;
<a name="l00114"></a>00114 } param;
<a name="l00115"></a>00115 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) XCommandOp;
<a name="l00116"></a>00116
<a name="l00117"></a>00117 typedef struct
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 TOSMsgHeader tos;
<a name="l00120"></a>00120 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> seq_no;
<a name="l00121"></a>00121 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> destination_id; <span class="comment">// 0xFFFF for all</span>
<a name="l00122"></a>00122 XCommandOp inst[1];
<a name="l00123"></a>00123 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) XCommandMsg;
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="comment">// ---[ RFID data packet structure] ---</span>
<a name="l00126"></a>00126 typedef struct{
<a name="l00127"></a>00127 TOSMsgHeader tos;
<a name="l00128"></a>00128 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> ptotal; <span class="comment">// num of packets</span>
<a name="l00129"></a>00129 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> pi; <span class="comment">// index of current packet</span>
<a name="l00130"></a>00130 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> RID; <span class="comment">// receive id</span>
<a name="l00131"></a>00131 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> SG; <span class="comment">// signal strength</span>
<a name="l00132"></a>00132 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> data[23];
<a name="l00133"></a>00133 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> crc;
<a name="l00134"></a>00134 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) RFIDMsg;
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">// ---[ Health data packet structure ]---</span>
<a name="l00137"></a>00137 <span class="comment">/*typedef struct</span>
<a name="l00138"></a>00138 <span class="comment">{</span>
<a name="l00139"></a>00139 <span class="comment"> unsigned short id;</span>
<a name="l00140"></a>00140 <span class="comment"> unsigned char hop_count;</span>
<a name="l00141"></a>00141 <span class="comment"> unsigned char send_est;</span>
<a name="l00142"></a>00142 <span class="comment">} DBGEstEntry;</span>
<a name="l00143"></a>00143 <span class="comment">typedef struct</span>
<a name="l00144"></a>00144 <span class="comment">{</span>
<a name="l00145"></a>00145 <span class="comment"> unsigned short node_id;</span>
<a name="l00146"></a>00146 <span class="comment"> unsigned short origin_addr;</span>
<a name="l00147"></a>00147 <span class="comment"> short seq_no;</span>
<a name="l00148"></a>00148 <span class="comment"> unsigned char hop_count;</span>
<a name="l00149"></a>00149 <span class="comment"> // HealthMsg</span>
<a name="l00150"></a>00150 <span class="comment"> unsigned char est_entries;</span>
<a name="l00151"></a>00151 <span class="comment"> DBGEstEntry est_list[4];</span>
<a name="l00152"></a>00152 <span class="comment">} HealthData;</span>
<a name="l00153"></a>00153 <span class="comment">*/</span>
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