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<h1>nav200.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"> * Kathy Fung, Toby Collett</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 library is free software; you can redistribute it and/or</span>
<a name="l00008"></a>00008 <span class="comment"> * modify it under the terms of the GNU Lesser General Public</span>
<a name="l00009"></a>00009 <span class="comment"> * License as published by the Free Software Foundation; either</span>
<a name="l00010"></a>00010 <span class="comment"> * version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This library is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00015"></a>00015 <span class="comment"> * Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> * License along with this library; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021
<a name="l00030"></a>00030 <span class="preprocessor">#ifndef _NAV200_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define _NAV200_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <sys/types.h></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <sys/stat.h></span>
<a name="l00036"></a>00036 <span class="preprocessor">#if !defined (WIN32)</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor"> #include <sys/time.h></span>
<a name="l00038"></a>00038 <span class="preprocessor"> #include <termios.h></span>
<a name="l00039"></a>00039 <span class="preprocessor"> #include <strings.h></span>
<a name="l00040"></a>00040 <span class="preprocessor"> #include <unistd.h></span>
<a name="l00041"></a>00041 <span class="preprocessor">#endif</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#include <fcntl.h></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <stdio.h></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00045"></a>00045 <span class="preprocessor">#include <errno.h></span>
<a name="l00046"></a>00046 <span class="preprocessor">#include <string.h></span>
<a name="l00047"></a>00047 <span class="preprocessor">#include <pthread.h></span>
<a name="l00048"></a>00048 <span class="preprocessor">#include <math.h></span>
<a name="l00049"></a>00049 <span class="comment">//#include <stdint.h></span>
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="preprocessor">#if defined (WIN32)</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span> <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ssize_t;
<a name="l00053"></a>00053 <span class="preprocessor">#endif</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span>
<a name="l00055"></a>00055 <span class="preprocessor">#define STX 0x02</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define MAXLEN 255</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define BUFFER_SIZE 256</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define HEADER_SIZE 4</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define FOOTER_SIZE 1</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span>
<a name="l00061"></a><a class="code" href="structNav200Command.html">00061</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structNav200Command.html">Nav200Command</a>
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 uint8_t header;
<a name="l00064"></a>00064 uint8_t length;
<a name="l00065"></a>00065 uint8_t mode;
<a name="l00066"></a>00066 uint8_t function;
<a name="l00067"></a>00067 uint8_t data [MAXLEN-HEADER_SIZE-FOOTER_SIZE+1];
<a name="l00068"></a>00068 <span class="keywordtype">int</span> dataLength;
<a name="l00069"></a>00069 uint8_t BCC;
<a name="l00070"></a>00070 }<a class="code" href="structNav200Command.html">Nav200Command</a>;
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="comment">// typedef struct ReflectorInfo</span>
<a name="l00073"></a>00073 <span class="comment">// {</span>
<a name="l00074"></a>00074 <span class="comment">// uint8_t layer;</span>
<a name="l00075"></a>00075 <span class="comment">// uint8_t number;</span>
<a name="l00076"></a>00076 <span class="comment">// }ReflectorInfo;</span>
<a name="l00077"></a>00077
<a name="l00078"></a><a class="code" href="structPositionXY.html">00078</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structPositionXY.html">PositionXY</a>
<a name="l00079"></a>00079 {<span class="comment">//position is in mm</span>
<a name="l00080"></a>00080 <span class="keywordtype">int</span> x;
<a name="l00081"></a>00081 <span class="keywordtype">int</span> y;
<a name="l00082"></a>00082 }<a class="code" href="structPositionXY.html">PositionXY</a>;
<a name="l00083"></a>00083
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="structReflectorData.html">00085</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structReflectorData.html">ReflectorData</a>
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 uint8_t layer;
<a name="l00088"></a>00088 uint8_t number; <span class="comment">// reflector number</span>
<a name="l00089"></a>00089 <a class="code" href="structPositionXY.html">PositionXY</a> pos;
<a name="l00090"></a>00090 }<a class="code" href="structReflectorData.html">ReflectorData</a>;
<a name="l00091"></a>00091
<a name="l00092"></a>00092
<a name="l00093"></a><a class="code" href="structLaserPos.html">00093</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structLaserPos.html">LaserPos</a>
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <a class="code" href="structPositionXY.html">PositionXY</a> pos; <span class="comment">// position of the laser scanner</span>
<a name="l00096"></a>00096 <span class="keywordtype">short</span> orientation;
<a name="l00097"></a>00097 uint8_t quality;
<a name="l00098"></a>00098 uint8_t number; <span class="comment">// number of reflectors used</span>
<a name="l00099"></a>00099 }<a class="code" href="structLaserPos.html">LaserPos</a>;
<a name="l00100"></a>00100
<a name="l00101"></a><a class="code" href="structErrorBytes.html">00101</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structErrorBytes.html">ErrorBytes</a>
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103 uint8_t F0; <span class="comment">// function byte of the last command</span>
<a name="l00104"></a>00104 uint8_t F1; <span class="comment">// error class</span>
<a name="l00105"></a>00105 uint8_t F2; <span class="comment">// error group</span>
<a name="l00106"></a>00106 uint8_t F3; <span class="comment">// error specification</span>
<a name="l00107"></a>00107 }<a class="code" href="structErrorBytes.html">ErrorBytes</a>;
<a name="l00108"></a>00108
<a name="l00109"></a>00109
<a name="l00110"></a>00110
<a name="l00111"></a>00111
<a name="l00112"></a><a class="code" href="classNav200.html">00112</a> <span class="keyword">class </span><a class="code" href="classNav200.html">Nav200</a>
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 <span class="keyword">public</span>:
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="keyword">friend</span> <span class="keyword">class </span>SickNAV200;
<a name="l00117"></a>00117 <a class="code" href="classNav200.html">Nav200</a>();
<a name="l00118"></a>00118 ~<a class="code" href="classNav200.html">Nav200</a>();
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="keywordtype">int</span> Initialise(<a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a>* device, <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>* opaque, <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> opaque_id);
<a name="l00121"></a>00121 <span class="keywordtype">int</span> Terminate();
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="keywordtype">int</span> ProcessData();
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="comment">// standby mode</span>
<a name="l00126"></a>00126 <span class="keywordtype">bool</span> EnterStandby();
<a name="l00127"></a>00127 <span class="keywordtype">int</span> GetVersionNumber();
<a name="l00128"></a>00128 <span class="keywordtype">char</span>* GetVersionString(); <span class="comment">//String pointer return is only valid till the next request to Nav200</span>
<a name="l00129"></a>00129 <span class="keywordtype">short</span> GetDeviceSerial();
<a name="l00130"></a>00130 <span class="keywordtype">bool</span> rotateDirection(uint8_t direction);
<a name="l00131"></a>00131 <span class="keywordtype">bool</span> GetReflectorPosition(uint8_t layer, uint8_t number, <a class="code" href="structPositionXY.html">PositionXY</a> & reflector);
<a name="l00132"></a>00132 <span class="keywordtype">bool</span> ChangeReflectorPosition(uint8_t layer, uint8_t number, <span class="keywordtype">int</span> newX, <span class="keywordtype">int</span> newY);
<a name="l00133"></a>00133 <span class="keywordtype">bool</span> InsertReflectorPosition(uint8_t layer, uint8_t number, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y);
<a name="l00134"></a>00134 <span class="keywordtype">bool</span> DeleteReflectorPosition(uint8_t layer, uint8_t number, <a class="code" href="structPositionXY.html">PositionXY</a> & reflector);
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">// read and set reflector radii</span>
<a name="l00137"></a>00137 <span class="keywordtype">int</span> GetReflectorRadius(uint8_t layer);
<a name="l00138"></a>00138 <span class="keywordtype">bool</span> SetReflectorRadius(uint8_t layer, uint8_t radius);
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment">// mapping mode</span>
<a name="l00141"></a>00141 <span class="keywordtype">bool</span> EnterMapping();
<a name="l00142"></a>00142 <span class="keywordtype">int</span> StartMapping(uint8_t layer, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation, uint8_t radius);
<a name="l00143"></a>00143 <span class="keywordtype">int</span> StartMappingMeasurement(uint8_t layer, uint8_t scans, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation, uint8_t radius);
<a name="l00144"></a>00144 <span class="keywordtype">int</span> StartNegativeMappingMeasurement(uint8_t layer, uint8_t scans, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation, uint8_t radius);
<a name="l00145"></a>00145 <span class="keywordtype">bool</span> MappingPosition(uint8_t layer, uint8_t number, <a class="code" href="structPositionXY.html">PositionXY</a> & reflector);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">// positioning mode</span>
<a name="l00148"></a>00148 <span class="keywordtype">bool</span> EnterPositioning();
<a name="l00149"></a>00149 <span class="keywordtype">bool</span> EnterPositioningInput(uint8_t NumberOfMeasurements);
<a name="l00150"></a>00150 <span class="keywordtype">bool</span> GetPositionAuto(<a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition);
<a name="l00151"></a>00151 <span class="keywordtype">bool</span> GetPositionSpeed(<span class="keywordtype">short</span> speedX, <span class="keywordtype">short</span> speedY, <a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition);
<a name="l00152"></a>00152 <span class="keywordtype">bool</span> GetPositionSpeedVelocity(<span class="keywordtype">short</span> speedX, <span class="keywordtype">short</span> speedY, <span class="keywordtype">short</span> velocity, <a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition);
<a name="l00153"></a>00153 <span class="keywordtype">bool</span> GetPositionSpeedVelocityAbsolute(<span class="keywordtype">short</span> speedX, <span class="keywordtype">short</span> speedY, <span class="keywordtype">short</span> velocity, <a class="code" href="structLaserPos.html">LaserPos</a> & laserPosition);
<a name="l00154"></a>00154 <span class="keywordtype">bool</span> ChangeLayer(uint8_t layer);
<a name="l00155"></a>00155 <span class="keywordtype">bool</span> ChangeLayerDefPosition(uint8_t layer, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y, <span class="keywordtype">short</span> orientation);
<a name="l00156"></a>00156 <span class="keywordtype">bool</span> SetActionRadii(<span class="keywordtype">int</span> <a class="code" href="group__player__clientlib__utility.html#gae595027e3eb7a9c12bf49dee42d6ea06" title="Return the minimum of a, b.">min</a>, <span class="keywordtype">int</span> <a class="code" href="group__player__clientlib__utility.html#gaa6c2b569d3d0e6c174a49e8ec1aac796" title="Return the maximum of a, b.">max</a>);
<a name="l00157"></a>00157 <span class="keywordtype">bool</span> SelectNearest(uint8_t N_nearest);
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="comment">// upload mode</span>
<a name="l00160"></a>00160 <span class="keywordtype">bool</span> EnterUpload();
<a name="l00161"></a>00161 <span class="keywordtype">bool</span> GetUploadTrans(uint8_t layer, <a class="code" href="structReflectorData.html">ReflectorData</a> & reflector);
<a name="l00162"></a>00162 <span class="comment">// download mode</span>
<a name="l00163"></a>00163 <span class="keywordtype">bool</span> EnterDownload();
<a name="l00164"></a>00164 <span class="keywordtype">bool</span> DownloadReflector(uint8_t layer, uint8_t number, <span class="keywordtype">int</span> X, <span class="keywordtype">int</span> Y);
<a name="l00165"></a>00165
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <span class="keyword">protected</span>:
<a name="l00168"></a>00168 <span class="comment">// serial port descriptor</span>
<a name="l00169"></a>00169 <span class="comment">//int fd;</span>
<a name="l00170"></a>00170 <span class="comment">//struct termios oldtio;</span>
<a name="l00171"></a>00171
<a name="l00172"></a>00172 uint8_t receivedBuffer[BUFFER_SIZE];
<a name="l00173"></a>00173 <span class="keywordtype">int</span> bytesReceived;
<a name="l00174"></a>00174 <a class="code" href="structNav200Command.html">Nav200Command</a> packet;
<a name="l00175"></a>00175 <a class="code" href="structErrorBytes.html">ErrorBytes</a> error;
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="keywordtype">void</span> PrintErrorMsg(<span class="keywordtype">void</span>);
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="keywordtype">int</span> ReadFromNav200(<span class="keywordtype">int</span> timeout_usec=5000000);
<a name="l00180"></a>00180 <span class="keywordtype">int</span> WriteCommand(<span class="keywordtype">char</span> mode, <span class="keywordtype">char</span> function, <span class="keywordtype">int</span> dataLength, uint8_t * data);
<a name="l00181"></a>00181 uint8_t CreateCRC(uint8_t* data, ssize_t len);
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">// SickNav200 Driver info</span>
<a name="l00184"></a>00184 <a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a> *sn200;
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="comment">// Opaque info - for setting filter</span>
<a name="l00187"></a>00187 <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> *opaque;
<a name="l00188"></a>00188 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> opaque_id;
<a name="l00189"></a>00189
<a name="l00190"></a>00190 };
<a name="l00191"></a>00191
<a name="l00192"></a>00192
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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Last updated 12 September 2005 21:38:45
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