nclient.h

卡耐基.梅隆大学的机器人仿真软件（Redhat linux 9下安装）

 * st - stops the robot (the robot holds its current position)
 */
int st(void);

/*
 * lp - set motor limp (the robot may not hold its position).
 */
int lp(void);

/*
 * tk - sends the character stream, talk_string, to the voice synthesizer
 *      to make the robot talk.
 *
 * parameters:
 *    char *talk_string -- the string to be sent to the synthesizer.
 */
int tk(char *talk_string);

/*
 * dp - define the current position of the robot as (x,y)
 * 
 * parameters:
 *    int x, y -- the position to set the robot to.
 */
int dp(int x, int y);

/*
 * zr - zeroing the robot, align steering and turret with bumper zero.
 *      The position, steering and turret angles are all set to zero.
 *      This function returns when the zeroing process has completed.
 */
int zr(void);

/*
 * conf_ir - configure infrared sensor system.
 *
 * parameters: 
 *    int history -- specifies the percentage dependency of the current 
 *                   returned reading on the previous returned reading.
 *                   It should be set between 0 and 10: 0 = no dependency 
 *                   10 = full dependency, i.e. the reading will not change
 *    int order[16] --  specifies the firing sequence of the infrared 
 *                      (#0 .. #15). You can terminate the order list by a 
 *                      "255". For example, if you want to use only the 
 *                      front three infrared sensors then set order[0]=0,
 *                      order[1]=1, order[2]=15, order[3]=255 (terminator).
 */
int conf_ir(int history, int order[16]);

/*
 * conf_sn - configure sonar sensor system.
 *
 * parameters:
 *    int rate -- specifies the firing rate of the sonar in 4 milli-seconds 
 *                interval; 
 *    int order[16] -- specifies the firing sequence of the sonar (#0 .. #15).
 *                     You can terminate the order list by a "255". For 
 *                     example, if you want to use only the front three 
 *                     sensors, then set order[0]=0, order[1]=1, order[2]=15, 
 *                     order[3]=255 (terminator).
 */
int conf_sn(int rate, int order[16]);

/*
 * conf_cp - configure compass system.
 * 
 * parameters:
 *    int mode -- specifies compass on/off: 0 = off ; 1 = on; 2 = calibrate.
 *                When you call conf_cp (2), the robot will rotate slowly 360
 *                degrees. You must wait till the robot stops rotating before
 *                issuing another command to the robot (takes ~3 minutes).
 */
int conf_cp(int mode);

/*
 * conf_ls - configure laser sensor system:
 *
 * parameters:
 *    unsigned int mode -- specifies the on-board processing mode of the laser 
 *                         sensor data which determines the mode of the data 
 *                         coming back: 
 *                           the first bit specifies the on/off;
 *                           the second bit specifies point/line mode;
 *                           the third to fifth bits specify the 
 *                           returned data types: 
 *                             000 = peak pixel, 
 *                             001 = rise pixel, 
 *                             010 = fall pixel, 
 *                             011 = magnitude,
 *                             100 = distance;
 *                           the sixth bit specifies data integrity checking.
 *
 *   unsigned int threshold -- specifies the inverted acceptable brightness
 *                             of the laser line. 
 *
 *   unsigned int width -- specifies the acceptable width in terms
 *                         of number of pixels that are brighter than the 
 *                         set threshold.
 *  
 *   unsigned int num_data -- specifies the number of sampling points. 
 *   unsigned int processing --  specifies the number of neighboring 
 *                               pixels for averaging
 *
 * If you don't understand the above, try this one:
 *   conf_ls(51, 20, 20, 20, 4)
 */
int conf_ls(unsigned int mode,
	    unsigned int threshold,
	    unsigned int width,
	    unsigned int num_data,
	    unsigned int processing);

/*
 * conf_tm - sets the timeout period of the robot in seconds. If the
 *           robot has not received a command from the host computer
 *           for more than the timeout period, it will abort its 
 *           current motion
 * 
 * parameters:
 *    unsigned int timeout -- timeout period in seconds. If it is 0, there
 *                            will be no timeout on the robot.
 */
int conf_tm(unsigned char timeout);

/*
 * get_ir - get infrared data, independent of mask. However, only 
 *          the active infrared sensor readings are valid. It updates
 *          the State vector.
 */
int get_ir(void);

/*
 * get_sn - get sonar data, independent of mask. However, only 
 *          the active sonar sensor readings are valid. It updates
 *          the State vector.
 */
int get_sn(void);

/*
 * get_rc - get robot configuration data (x, y, th, tu), independent of 
 *          mask. It updates the State vector.
 */
int get_rc(void);

/*
 * get_rv - get robot velocities (translation, steering, and turret) data,
 *          independent of mask. It updates the State vector.
 */
int get_rv(void);

/*
 * get_ra - get robot acceleration (translation, steering, and turret) data,
 *          independent of mask. It updates the State vector.
 */
int get_ra(void);

/*
 * get_cp - get compass data, independent of mask. However, the
 *          data is valid only if the compass is on. It updates the
 *          State vector.
 */
int get_cp(void);

/*
 * get_ls - get laser data point mode, independent of mask. However the
 *          data is valid only of the laser is on. It updates the Laser 
 *          vector.
 */
int get_ls(void);

/*
 * get_bp - get bumper data, independent of mask. It updates the State
 *          vector.
 */
int get_bp(void);

/*
 * conf_sg - configure laser sensor system line segment processing mode:
 *
 * parameters:
 *    unsigned int threshold -- specifies the threshold value for least-square
 *                             fitting. When the error term grows above the 
 *                             threshold, the line segment will be broken
 *    unsigned int min_points -- specifies the acceptable number of points
 *                              to form a line segment.
 *    unsigned int gap -- specifies the acceptable "gap" between two segments
 *                        while they can still be treated as one (in 1/10 inch)
 *
 * If you don't understand the above, try this one:
 *    conf_sg(50, 4, 30)
 */
int conf_sg(unsigned int threshold, 
	    unsigned int min_points, 
	    unsigned int gap);

/*
 * get_sg - get laser data line mode, independent of mask. It updates
 *          the laser vector.
 */
int get_sg(void);

/*
 * da - define the current steering angle of the robot to be th
 *      and the current turret angle of the robot to be tu.
 * 
 * parameters:
 *    int th, tu -- the steering and turret orientations to set the
 *                  robot to.
 */
int da(int th, int tu);

/*
 * ws - waits for stop of motors of the robot. This function is intended  
 *      to be used in conjunction with pr() and pa() to detect the desired
 *      motion has finished
 *
 * parameters:
 *    unsigned char t_ws, s_ws, r_ws -- These three parameters specify 
 *                                      which axis or combination of axis 
 *                                      (translation, steering, and turret) 
 *                                      to wait. 
 *    unsigned char timeout -- specifies how long to wait before timing out 
 *                             (return without stopping the robot).
 */
int ws(unsigned char t_ws, unsigned char s_ws,
       unsigned char r_ws, unsigned char timeout);

/*
 * get_rpx - get the position of all nearby robots
 */
int get_rpx(long *robot_pos);

/*****************************
 *                           *
 * World Interface Functions *
 *                           *
 *****************************/

/*
 * add_obstacle - creates an obstacle and adds it to the obstacle list
 *                of the robot environment. 
 * 
 * No effect in direct mode.
 * 
 * parameters:
 *    long obs[2*MAX_VERTICES+1] -- 
 *                The first element of obs specifies the number of 
 *                vertices of the polygonal obstacle (must be no greater 
 *                than MAX_VERTICES). The subsequent elements of obs 
 *                specifies the x and y coordinates of the vertices, 
 *                in counter-clockwise direction.
 */
int add_obstacle(long obs[2*MAX_VERTICES+1]);

/*
 * add_Obs - is the same as add_obstacle, for backward compatibility
 */
int add_Obs(long obs[2*MAX_VERTICES+1]);


/*
 * delete_obstacle - deletes an obstacle specified by obs from the robot 
 *                   environment 
 * parameters:
 *    long obs[2*MAX_VERTICES+1] -- 
 *                The first element of obs specifies the number of 
 *                vertices of the polygonal obstacle (must be no greater 
 *                than MAX_VERTICES). The subsequent elements of obs 
 *                specifies the x and y coordinates of the vertices, 
 *                in counter-clockwise direction.
 */
int delete_obstacle(long obs[2*MAX_VERTICES+1]);

/*
 * delete_Obs - is the same as delete_obstacle, for backward compatibility
 */
int delete_Obs(long obs[2*MAX_VERTICES+1]);

/*
 * move_obstacle - moves the obstacle obs by dx along x direction and 
 *                 dy along y direction. obs is modified.
 *
 * No effect in direct mode.
 * 
 * parameters:
 *    long obs[2*MAX_VERTICES+1] -- 
 *                The first element of obs specifies the number of 
 *                vertices of the polygonal obstacle (must be no greater 
 *                than MAX_VERTICES). The subsequent elements of obs 
 *                specifies the x and y coordinates of the vertices, 
 *                in counter-clockwise direction.
 *    long dx, dy -- the x and y distances to translate the obstacle
 */
int move_obstacle(long obs[2*MAX_VERTICES+1], long dx, long dy);

/*
 * move_Obs - is the same as move_obstacle, for backward compatibility
 *
 * No effect in direct mode.
 * 
 */
int move_Obs(long obs[2*MAX_VERTICES+1], long dx, long dy);

/*
 * new_world - deletes all obstacles in the current robot world
 *
 * No effect in direct mode.
 * 
 */
int new_world(void);

/****************************
 *                          *
 * Graphics refresh control *
 *                          *
 ****************************/

/*
 * refresh_all - causes all temporary drawing in graphics window, including
 *               traces, sensors, and client graphics to be erased
 */
int refresh_all(void);

/*
 * refresh_all_traces - causes all robot traces in graphics to be erased
 */
int refresh_all_traces(void);

/*
 * refresh_actual_trace - causes actual robot trace in graphics to be erased
 */
int refresh_actual_trace(void);

/*
 * refresh_encoder_trace - causes encoder robot trace in graphics to be erased
 */
int refresh_encoder_trace(void);

/*
 * refresh_all_sensors - causes all sensor drawings in graphics to be erased
 */
int refresh_all_sensors(void);

/*
 * refresh_bumper_sensor - causes bumper drawings in graphics to be erased
 */
int refresh_bumper_sensor(void);

/*
 * refresh_infrared_sensor - causes infrared drawings in graphics to be erased
 */
int refresh_infrared_sensor(void);

/*
 * refresh_sonar_sensor - causes sonar drawings in graphics to be erased
 */
int refresh_sonar_sensor(void);