rflex.h

卡耐基.梅隆大学的机器人仿真软件（Redhat linux 9下安装）

 /*********************************************************
 *
 * This source code is part of the Carnegie Mellon Robot
 * Navigation Toolkit (CARMEN)
 *
 * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
 * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss,
 * and Jared Glover
 *
 * CARMEN is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU General Public 
 * License as published by the Free Software Foundation; 
 * either version 2 of the License, or (at your option)
 * any later version.
 *
 * CARMEN is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied 
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 * PURPOSE.  See the GNU General Public License for more 
 * details.
 *
 * You should have received a copy of the GNU General 
 * Public License along with CARMEN; if not, write to the
 * Free Software Foundation, Inc., 59 Temple Place, 
 * Suite 330, Boston, MA  02111-1307 USA
 *
 ********************************************************/

#ifndef TRUE
#define TRUE  1
#endif

#ifndef FALSE
#define FALSE 0
#endif

#define MAX_NAME_LENGTH                256
#define MAX_COMMAND_LENGTH             256
#define MAX_ACMD_SIZE                   48
#define MAX_NUM_LOOPS                   30
#define MAX_BUFFER_LENGTH             4096

#define MAX_NUM_SONARS                 256

#define EPSILON                     0.0001

#define TIMEOUT                         -1
#define WRONG                            0
#define OK                               1

#define B_STX                         0x02
#define B_ETX                         0x03
#define B_ESC                         0x1b

#define STD_TRANS_TORQUE    30000
#define STD_ROT_ACC         100000
#define STD_ROT_TORQUE      35000

#define SYS_PORT                 1
#define MOT_PORT                 2
#define JSTK_PORT                3
#define SONAR_PORT               4
#define DIO_PORT                 5
#define IR_PORT                  6

#define SYS_LCD_DUMP             0
#define SYS_STATUS               1

#define MOT_AXIS_GET_SYSTEM      0
#define MOT_AXIS_GET_MODEL       1
#define MOT_AXIS_GET_TARGET      2
#define MOT_AXIS_SET_LIMITS      3
#define MOT_AXIS_GET_LIMITS      4
#define MOT_AXIS_SET_POS_LIMITS  5
#define MOT_AXIS_GET_POS_LIMITS  6
#define MOT_AXIS_SET_DIR         7
#define MOT_AXIS_SET_POS         8
#define MOT_AXIS_GET_MODE        9
#define MOT_SET_DEFAULTS        10
#define MOT_BRAKE_SET           11
#define MOT_BRAKE_RELEASE       12
#define MOT_SYSTEM_REPORT       33
#define MOT_SYSTEM_REPORT_REQ   34
#define MOT_GET_NAXES           65
#define MOT_SET_GEARING         66
#define MOT_GET_GEARING         67
#define MOT_MOTOR_SET_MODE      68
#define MOT_MOTOR_GET_MODE      69
#define MOT_MOTOR_SET_PARMS     70
#define MOT_MOTOR_GET_PARMS     71
#define MOT_MOTOR_SET_LIMITS    72
#define MOT_MOTOR_GET_LIMITS    73
#define MOT_MOTOR_GET_DATA      74
#define MOT_AXIS_SET_PARMS      75
#define MOT_AXIS_GET_PARMS      76
#define MOT_AXIS_SET_PWM_LIMIT  77
#define MOT_AXIS_GET_PWM_LIMIT  78
#define MOT_AXIS_SET_PWM        79
#define MOT_AXIS_GET_PWM        80

#define SONAR_RUN                0
#define SONAR_GET_UPDATE         1
#define SONAR_REPORT             2

#define DIO_REPORTS_REQ          0
#define DIO_REPORT               1
#define DIO_GET_UPDATE           2
#define DIO_UPDATE               3
#define DIO_SET                  4

#define IR_RUN                   0
#define IR_REPORT                1

enum PARITY_TYPE   { N, E, O };

typedef struct {
  char                       ttyport[MAX_NAME_LENGTH];
  int                        baud;
  enum PARITY_TYPE           parity;
  int                        fd;
  int                        databits;
  int                        stopbits;
  int                        hwf;
  int                        swf;
} Device;