nclient.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
 *
 ********************************************************/

/*
 * Nclient.h
 *
 * Interface file for direct connections to the robot or for
 * connections to Nserver.
 * 
 * Copyright 1991-1998, Nomadic Technologies, Inc.
 *
 */

/* $Header: /cvsroot/carmen/carmen/src/base/scoutlib/Nclient.h,v 1.2 2006/04/06 00:30:08 stachnis Exp $ */

#ifndef _HOST_CLIENT_NCLIENT_H_
#define _HOST_CLIENT_NCLIENT_H_

#ifdef __cplusplus
extern "C" {
#endif

/* constants */

#ifndef FALSE
#define FALSE			0
#endif
#ifndef TRUE
#define TRUE			1
#endif
#ifndef NULL
#define NULL                    0
#endif
#define MAX_VERTICES     10
#define NUM_STATE        45
#define NUM_MASK         44 
#define NUM_LASER        482 
#define BUFSIZE          4096
#define MAX_USER_BUF     0xFFFF

/* Robot models. */
#define MODEL_N200   0
#define MODEL_N150   1
#define MODEL_SCOUT  2
#define MODEL_SCOUT2 2

/* the number of sonars and infrareds */
#define SONARS           16
#define INFRAREDS        16

/*
 * The following defines allow you to access the State vector in a 
 * more readable way.
 */

#define STATE_SIM_SPEED            0

#define STATE_IR_0                 1
#define STATE_IR_1                 2
#define STATE_IR_2                 3
#define STATE_IR_3                 4
#define STATE_IR_4                 5
#define STATE_IR_5                 6
#define STATE_IR_6                 7
#define STATE_IR_7                 8
#define STATE_IR_8                 9
#define STATE_IR_9                 10
#define STATE_IR_10                11
#define STATE_IR_11                12
#define STATE_IR_12                13
#define STATE_IR_13                14
#define STATE_IR_14                15
#define STATE_IR_15                16

#define STATE_SONAR_0              17
#define STATE_SONAR_1              18
#define STATE_SONAR_2              19
#define STATE_SONAR_3              20
#define STATE_SONAR_4              21
#define STATE_SONAR_5              22
#define STATE_SONAR_6              23
#define STATE_SONAR_7              24
#define STATE_SONAR_8              25
#define STATE_SONAR_9              26
#define STATE_SONAR_10             27
#define STATE_SONAR_11             28
#define STATE_SONAR_12             29
#define STATE_SONAR_13             30
#define STATE_SONAR_14             31
#define STATE_SONAR_15             32
 
#define STATE_BUMPER               33
#define STATE_CONF_X               34
#define STATE_CONF_Y               35
#define STATE_CONF_STEER           36
#define STATE_CONF_TURRET          37
#define STATE_VEL_TRANS            38
#define STATE_VEL_STEER            39
#define STATE_VEL_TURRET           40
#define STATE_MOTOR_STATUS         41
#define STATE_LASER                42
#define STATE_COMPASS              43
#define STATE_ERROR                44

/*
 * The following defines allow you to access the Smask vector in a 
 * more readable way.
 */

#define SMASK_POS_DATA             0

#define SMASK_IR_1                 1
#define SMASK_IR_2                 2
#define SMASK_IR_3                 3
#define SMASK_IR_4                 4
#define SMASK_IR_5                 5
#define SMASK_IR_6                 6
#define SMASK_IR_7                 7
#define SMASK_IR_8                 8
#define SMASK_IR_9                 9
#define SMASK_IR_10                10
#define SMASK_IR_11                11
#define SMASK_IR_12                12
#define SMASK_IR_13                13
#define SMASK_IR_14                14
#define SMASK_IR_15                15
#define SMASK_IR_16                16

#define SMASK_SONAR_1              17
#define SMASK_SONAR_2              18
#define SMASK_SONAR_3              19
#define SMASK_SONAR_4              20
#define SMASK_SONAR_5              21
#define SMASK_SONAR_6              22
#define SMASK_SONAR_7              23
#define SMASK_SONAR_8              24
#define SMASK_SONAR_9              25
#define SMASK_SONAR_10             26
#define SMASK_SONAR_11             27
#define SMASK_SONAR_12             28
#define SMASK_SONAR_13             29
#define SMASK_SONAR_14             30
#define SMASK_SONAR_15             31
#define SMASK_SONAR_16             32
 
#define SMASK_BUMPER               33
#define SMASK_CONF_X               34
#define SMASK_CONF_Y               35
#define SMASK_CONF_STEER           36
#define SMASK_CONF_TURRET          37
#define SMASK_VEL_TRANS            38
#define SMASK_VEL_STEER            39
#define SMASK_VEL_TURRET           40
#define SMASK_RESERVED             41
#define SMASK_LASER                42
#define SMASK_COMPASS              43

/*
 * These defines are used for specifying the control modes in the
 * robot motion command 'mv'. If MV_IGNORE is specified for an axis
 * the current motion command for it will remain active. Specifying
 * MV_VM or MV_PR will select velocity and position control as in 
 * the vm and pr robot motion commands 
 */

#define MV_IGNORE 0
#define MV_VM     1 /* velocity mode */
#define MV_PR     2 /* position relative mode */
#define MV_LP     3 /* limp mode */
#define MV_AC     4 /* set acceleration for vm, pr, pa modes*/
#define MV_SP     5 /* set velocity for pr, pa modes */
#define MV_PA     6 /* position absolute mode */
#define MV_TQ     7 /* torque mode */
#define MV_MT     8 /* set maximum torque for vm, pr, pa, tq modes */

/*
 * zeroing modes for arm
 */

#define ZR_CHECK         1
#define ZR_ORIENT        2
#define ZR_NO_N_GRIPPER  4

/* 
 * user packet constants for arm 
 */

#define ARM_ZR 40
#define ARM_WS 41
#define ARM_MV 42


/*
 * For requesting the PosData the following defines should be used.
 * Each sensor has a bit, if it is set the pos-data is attached
 * when the sensory data is returned.
 */

#define POS_NONE          ( 0 << 0 )
#define POS_INFRARED      ( 1 << 0 )
#define POS_SONAR         ( 1 << 1 )
#define POS_BUMPER        ( 1 << 2 )
#define POS_LASER         ( 1 << 3 )
#define POS_COMPASS       ( 1 << 4 )

/* 
 * these macros enable the user to determine if the pos-attachment
 * is requested for a specific sensor. 1 is returned if the 
 * attachment is requested, 0 otherwise
 * 
 * Note that the function posDataCheck() is called (see below)
 */

#define POS_INFRARED_P  ( ( (posDataCheck()) & POS_INFRARED ) ? 1 : 0 )
#define POS_SONAR_P     ( ( (posDataCheck()) & POS_SONAR    ) ? 1 : 0 )
#define POS_BUMPER_P    ( ( (posDataCheck()) & POS_BUMPER   ) ? 1 : 0 )
#define POS_LASER_P     ( ( (posDataCheck()) & POS_LASER    ) ? 1 : 0 )
#define POS_COMPASS_P   ( ( (posDataCheck()) & POS_COMPASS  ) ? 1 : 0 )

/*
 * The user will be able to call a function that fills out a 
 * list of position data for a specific sensor reading. 
 * To access the sensors in that structure the following defines 
 * should be used. They should also be used if data for a single
 * infrared sensor / sonar is requested.
 */

#define POS_IR_1             0
#define POS_IR_2             1
#define POS_IR_3             2
#define POS_IR_4             3
#define POS_IR_5             4
#define POS_IR_6             5
#define POS_IR_7             6 
#define POS_IR_8             7
#define POS_IR_9             8
#define POS_IR_10            9
#define POS_IR_11           10
#define POS_IR_12           11
#define POS_IR_13           12
#define POS_IR_14           13
#define POS_IR_15           14
#define POS_IR_16           15

#define POS_SONAR_1          0
#define POS_SONAR_2          1
#define POS_SONAR_3          2
#define POS_SONAR_4          3
#define POS_SONAR_5          4
#define POS_SONAR_6          5 
#define POS_SONAR_7          6  
#define POS_SONAR_8          7
#define POS_SONAR_9          8
#define POS_SONAR_10         9
#define POS_SONAR_11        10
#define POS_SONAR_12        11
#define POS_SONAR_13        12
#define POS_SONAR_14        13
#define POS_SONAR_15        14
#define POS_SONAR_16        15


/* Define the length of the user buffer (Maximal short).
 * Due to Protocol bytes, the effective length is 65526 
 */
#define USER_BUFFER_LENGTH	0xFFFF


/********************
 *                  *
 * Type definitions *
 *                  *
 ********************/

/*
 * The following type definitions are used for the PosData.
 * PosData is an information packet that is attached to 
 * each sensor reading, if requested. Note that the use of 
 * PosData could cause compatibility problems when different
 * releases of the software are used on the robot and on the
 * server side. 
 *
 * The information packet can be used to determine how up-to-date
 * a sensory reading is. It contains the configuration of the robot.
 * This is the most updated configuration at the time of the sensor
 * reading. However, it is possible that the sensory reading
 * was taken after the integration of the coniguration.
 * To determine the interval that has passed two timestamps are in-
 * cluded in this information package: a timestamp for the computation
 * of the configuration and another timestamp for the actual capturing
 * of the senor reading.
 *
 * The timestamps are in milliseconds of the internal clock of the 
 * board that handles the sensors (Intellisys 100 sensor-board).
 */

/*
 * TimeData contains the current time of the Intellisys 100 
 * in milliseconds
 */

typedef unsigned long TimeData;

/*
 * ConfigData is where the i486 writes the current configuration
 * of the robot, so that the Intellisys 100 can attach current
 * integration values to the sensor readings.
 * It is also used inside of the Pos data.
 */

typedef struct _ConfigData
{
    /* the configuration of the robot */
    long          configX;
    long          configY;
    long          configSteer;
    long          configTurret;

    /* the velocities of the robot*/
    long          velTrans;
    long          velSteer;
    long          velTurret;

    /* time of integration in milliseconds (Intellisys 100 time) */
    TimeData      timeStamp;

} ConfigData;


/* 
 * PosData contains information that is attached to a sensor
 * reading in order to determine how recent it is.
 */