nclient.h

卡耐基.梅隆大学的机器人仿真软件（Redhat linux 9下安装）

 *  parameters:
 *     unsigned char data -- is the char to be stuffed
 *     unsigned char *buffer -- is the send buffer
 *     unsigned short *index -- is the buffer index which will be incremented
 *                              to reflect the bytes stuffed into the buffer
 */
int stuffuchar(unsigned char data,
	       unsigned char *buffer, unsigned short *index);

/*
 *  stuff2byteuint - stuffs an unsigned short int(2 bytes) into the send buffer
 *
 *  parameters:
 *     unsigned short data -- is the value which will be split apart and 
 *                            stuffed bytewise into the send buffer
 *     unsigned char *buffer -- is the send buffer
 *     unsigned short *index -- is the buffer index which will be incremented
 *	                        to reflect the bytes stuffed into the buffer
 */
int stuff2byteuint(unsigned short data, unsigned char *buffer, unsigned short *index);

/*
 *  stuff4byteuint - stuffs an unsigned long int(4 bytes) into the send buffer
 *
 *  parameters:
 *     unsigned long data -- is the value which will be split apart and stuffed
 *	                     bytewise into the send buffer
 *     unsigned char *buffer -- is the send buffer
 *     unsigned short *index -- is the buffer index which will be incremented
 *	                        to reflect the bytes stuffed into the buffer
 */
int stuff4byteuint(unsigned long data, unsigned char *buffer, unsigned short *index);

/*
 *  stuffdouble - stuffs a double(8 bytes) into the send buffer
 *
 *  parameters:
 *     double data -- is the value which will be split apart and stuffed
 *	              bytewise into the send buffer
 *     unsigned char *buffer -- is the send buffer
 *     unsigned short *index -- is the buffer index which will be incremented
 *	                        to reflect the bytes stuffed into the buffer
 */
int stuffdouble(double data, unsigned char *buffer, unsigned short *index);

/*
 *  extractchar -  extracts a char from the receive buffer
 *
 *  parameters:
 *     unsigned char *buffer -- is the receive buffer which holds the data
 *     unsigned short *index -- is the receive buffer index which will be
 *                              incremented to reflect the position of the
 *                              next piece of data to be extracted
 */
signed char extractchar(unsigned char *buffer, unsigned short *index);

/*
 *  extract2byteint -  extracts a short int(2 bytes) from the receive buffer
 *
 *  parameters:
 *     unsigned char *buffer -- is the receive buffer which holds the data
 *     unsigned short *index -- is the receive buffer index which will be
 *                              incremented to reflect the position of the
 *                              next piece of data to be extracted
 */
signed short extract2byteint(unsigned char *buffer, unsigned short *index);

/*
 *  extract4byteint -  extracts a long int(4 bytes) from the receive buffer
 *
 *  parameters:
 *     unsigned char *buffer -- is the receive buffer which holds the data
 *     unsigned short *index -- is the receive buffer index which will be
 *                              incremented to reflect the position of the
 *                              next piece of data to be extracted
 */
signed long extract4byteint(unsigned char *buffer, unsigned short *index);

/*
 *  extractuchar -  extracts an unsigned char from the receive buffer
 *
 *  parameters:
 *     unsigned char *buffer -- is the receive buffer which holds the data
 *     unsigned short *index -- is the receive buffer index which will be
 *                              incremented to reflect the position of the
 *                              next piece of data to be extracted
 */
unsigned char extractuchar(unsigned char *buffer, unsigned short *index);

/*
 *  extract2byteuint -  extracts an unsigned short int(2 bytes) from the 
 *                      receive buffer
 *
 *  parameters:
 *     unsigned char *buffer -- is the receive buffer which holds the data
 *     unsigned short *index -- is the receive buffer index which will be
 *                              incremented to reflect the position of the
 *                              next piece of data to be extracted
 */
unsigned short extract2byteuint(unsigned char *buffer, unsigned short *index);

/*
 *  extract4byteuint -  extracts an unsigned long int(4 bytes) from the 
 *                      receive buffer
 *
 *  parameters:
 *     unsigned char *buffer -- is the receive buffer which holds the data
 *     unsigned short *index -- is the receive buffer index which will be
 *                              incremented to reflect the position of the
 *                              next piece of data to be extracted
 */
unsigned long extract4byteuint(unsigned char *buffer, unsigned short *index);

/*
 *  extractdouble -  extracts a double(8 bytes) from the receive buffer
 *
 *  parameters:
 *     unsigned char *buffer -- is the receive buffer which holds the data
 *     unsigned short *index -- is the receive buffer index which will be
 *                              incremented to reflect the position of the
 *                              next piece of data to be extracted
 */
double extractdouble(unsigned char *buffer, unsigned short *index);

/************************************************
 *                                              *
 * Global variable access functions for Allegro * 
 * Common Lisp interface                        *
 *                                              *
 ************************************************/

int get_state(long state[NUM_STATE]);

int get_laser(int laser[2*NUM_LASER+1]);

int get_mask(int mask[NUM_MASK]);

int set_mask(int mask[NUM_MASK]);

int set_server_machine_name(char *sname);

int set_serv_tcp_port(int port);


/*************************************************
 *                                               *
 * Functions for the attachment of position      *
 * data to sensory readings.                     *
 *                                               *
 *************************************************/

/***************
 * FUNCTION:     posDataRequest
 * PURPOSE:      request position information for sensors
 * ARGUMENTS:    int posRequest : 
 *               The argument of this function specifies the sensors 
 *               for which the position information (PosData) should 
 *               be attached to the sensory reading.
 *               Its value is obtained by ORing the desired defines. 
 * EXAMPLE:      To attach PosData to sonars and laser:
 *               posDataRequest ( POS_SONAR | POS_LASER );
 * ALGORITHM:    currently sets the global variable Smask[0] and
 *               then calls ct() to transmit the change to the server
 * RETURN:       TRUE if the argument was correct, else FALSE
 * SIDE EFFECT:  Smask[0]
 * CALLS:        
 * CALLED BY:    
 ***************/
int posDataRequest ( int posRequest );


/***************
 * FUNCTION:     posDataCheck
 * PURPOSE:      return the sensors for which the PosData attachment
 *               is currently requested. 
 * ARGUMENTS:    None
 * ALGORITHM:    returns the usedSmask that is not globally accessible
 *               (is set by ct() to be the value of Smask[0])
 * RETURN:       int, see posDataRequest
 *               the macros POS_*_P can be used to examine the value
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 ***************/
int posDataCheck ( void );


/***************
 * FUNCTION:     posInfraredRingGet
 * PURPOSE:      copy the PosData for all infrareds to accessible memory
 * ARGUMENTS:    PosData posData [INFRAREDS] :
 *               an array of PosData structures that is filled with 
 *               PosData. The position information for each infrared
 *               containts the configuration of the robot at the time 
 *               of the sensory reading and a timestamp for the 
 *               configuration and the senosry reading .
 * ALGORITHM:    copies blocks of memory
 * RETURN:       int, return always TRUE
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 ***************/
int posInfraredRingGet ( PosData posData[INFRAREDS] );


/***************
 * FUNCTION:     posInfraredGet
 * PURPOSE:      copy the PosData for a specific infrared to accessible 
 *               memory
 * ARGUMENTS:    PosData *posData : the memory location that the information
 *                                  will be copied to 
 *               int infraredNumber : the number of the infrared
 * ALGORITHM:    copies block of memory
 * RETURN:       int, always returns TRUE
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 ***************/
int posInfraredGet     ( PosData *posData , int infraredNumber );


/***************
 * FUNCTION:     posSonarRingGet
 * PURPOSE:      copy the PosData for all sonars to accessible memory
 * ARGUMENTS:    PosData posData [SONARS] :
 *               an array of PosData structures that is filled with 
 *               PosData. The position information for each sonar
 *               containts the configuration of the robot at the time 
 *               of the sensory reading and a timestamp for the 
 *               configuration and the senosry reading .
 * ALGORITHM:    copies blocks of memory
 * RETURN:       int, return always TRUE
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 ***************/
int posSonarRingGet    ( PosData posData[SONARS] );


/***************
 * FUNCTION:     posSonarGet
 * PURPOSE:      copy the PosData for a specific sonar to accessible memory
 * ARGUMENTS:    PosData *posData : the memory location that the information
 *                                  will be copied to 
 *                        int sonarNumber : the number of the sonar 
 * ALGORITHM:    copies block of memory
 * RETURN:       int, always returns TRUE
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 ***************/
int posSonarGet        ( PosData *posData , int sonarNumber );


/***************
 * FUNCTION:     posBumperGet
 * PURPOSE:      copy PosData for the bumper to accessible memory
 * ARGUMENTS:    PosData *posData : where the data is copied to 
 * ALGORITHM:    copies a block of memory
 * RETURN:       int, always returns TRUE
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 * NOTE:         The bumper differs from other sensors in that the 
 *               posData is only updated after one of the bumper sensors 
 *               change its value from zero to one. This means that the 
 *               posData for the bumper always contains the position and 
 *               timeStamps of the latest hit, or undefined information 
 *               if the bumper was not hit yet.
 ***************/
int posBumperGet       ( PosData *posData );


/***************
 * FUNCTION:     posLaserGet
 * PURPOSE:      copy PosData for the laser to accessible memory
 * ARGUMENTS:    PosData *posData : where the data is copied to 
 * ALGORITHM:    copies a block of memory
 * RETURN:       int, always returns TRUE
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 * NOTE:         The laser is updated at a frequency of 30Hz.
 ***************/
int posLaserGet        ( PosData *posData );


/***************
 * FUNCTION:     posCompassGet
 * PURPOSE:      copy PosData for the compass to accessible memory
 * ARGUMENTS:    PosData *posData : where the data is copied to 
 * ALGORITHM:    copies a block of memory
 * RETURN:       int, always returns TRUE
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 * NOTE:         The compass is updated ad a frequency of 10Hz.
 ***************/
int posCompassGet      ( PosData *posData );


/***************
 * FUNCTION:     posTimeGet
 * PURPOSE:      get the PosData time (Intellisys 100) in milliseconds
 * ARGUMENTS:    None
 * ALGORITHM:    ---
 * RETURN:       int 
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 * NOTE:         The resolution of this timer is 16.4 milliseconds;
 *               the timer starts out at zero when the system is 
 *               turned on and will flow over after 49 days.
 ***************/
int posTimeGet         ( void );


/*************************************************
 *                                               *
 * Functions to determine the charge level       *
 * of the batteries for the cpu and the motors.  *
 *                                               *
 *************************************************/

/***************
 * FUNCTION:     voltCpuGet
 * PURPOSE:      get the voltage of the power supply for the CPU
 * ARGUMENTS:    None
 * ALGORITHM:    ---
 * RETURN:       float (the voltage in volt)
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 * NOTE:         This should never drop below 10.8 volts.
 ***************/
float voltCpuGet       ( void );


/***************
 * FUNCTION:     voltMotorGet
 * PURPOSE:      get the voltage of the power supply for the motors
 * ARGUMENTS:    None
 * ALGORITHM:    ---
 * RETURN:       float (the voltage in volt)
 * SIDE EFFECT:  
 * CALLS:        
 * CALLED BY:    
 * NOTE:         This should never drop below 10.8 volts.
 *               Returns average of the two motor batteries.
 ***************/
float voltMotorGet     ( void );

#ifdef __cplusplus
}
#endif

#endif /* _HOST_CLIENT_NCLIENT_H_ */