nclient.h

一个多机器人的仿真平台

/*
 * Nclient.h
 *
 * Interface file for direct connections to the robot or for
 * connections to Nserver.
 * 
 * Copyright 1993,94,95, Nomadic Technologies, Inc.
 *
 */

/* $Header: /home/trb/teambots/src/EDU/gatech/cc/is/nomad150/RCS/Nclient.h,v 1.1 1999/11/14 00:12:54 trb 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
#define MAX_VERTICES     10
#define NUM_STATE        45
#define NUM_MASK         44 
#define NUM_LASER        482 
#define BUFSIZE          4096
#define MAX_USER_BUF     0xFFFF

/* 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
#define MV_PR     2
#define MV_LP     3
#define MV_AC     4
#define MV_SP     5

#define MV_PWM_LOW_0   10
#define MV_PWM_HIGH_0  11
#define MV_PWM_LOW_1   12
#define MV_PWM_HIGH_1  13
#define MV_PWM_LOW_2   14
#define MV_PWM_HIGH_2  15
#define MV_PWM_LOW_3   16
#define MV_PWM_HIGH_3  17


/*
 * 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.
 */

typedef struct _PosData
{
    /* the configuration of the robot at the time of the reading */
    ConfigData config;

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

} PosData;

/* these type definitions are for user defined package processing */

typedef union
{
  char            bytes[8];
  double          data;
} double_union;

typedef union
{
  char	        bytes[4];
  short		words[2];
  long	        data;
} long_union;

typedef union
{
  unsigned char	bytes[2];
  short		data;
} short_union;

typedef union
{
  unsigned char   bytes[2];
  unsigned short  data;
} ushort_union;

typedef union
{
  unsigned char	bytes[4];
  unsigned short	words[2];
  unsigned long	data;
} ulong_union;

struct request_struct
{
  short type;
  unsigned short size;
  long  mesg[USER_BUFFER_LENGTH];
};

struct reply_struct
{
  short type;
  unsigned short size;
  long  mesg[USER_BUFFER_LENGTH];
};

/********************
 *                  *
 * Global Variables *
 *                  *
 ********************/

/* The State vector is an array of 45 long integers:
 *
 *   State[0] - stores actual simulation speed with 10 being realtime 
 *              (20 meaning twice as fast as realtime and 5 meaning half the 
 *	        speed of realtime).
 *   State[1 ... 16] - stores the 16 infrared data.
 *   State[17 ... 32] - stores the 16 sonar data.
 *   State[33] - stores bumper data
 *   State[34 ... 37] - stores robot configuration
 *   State[38 ... 40] - stores robot's current velocities
 *   State[41] - motor status: the lowest bit is set to 1 if the translational
 *               motor is active; the second lowest bit is set to 1 if the 
 *               steering motor is active; the third lowest bit is set to 1 if 
 *               the turret motor is active.
 *   State[42] - laser mode: the mode of the laser.
 *   State[43] - compass value.
 *   State[44] - error number.
 */
extern long State[NUM_STATE];

/* The Smask vector is an array of 44 integers:
 *
 *   Smask[0] - used for the posData attachment to sensory data
 *   Smask[1 ... 16] - infrared mask
 *   Smask[17 ... 32] - sonar mask
 *   Smask[33] - bumper mask
 *   Smask[34 ... 37] - configuration mask
 *   Smask[38 ... 40] - velocity mask
 *   Smask[41] - irrelevant.
 *   Smask[42] - laser mask
 *   Smask[43] - compass mask
 */
extern int Smask[NUM_MASK];

/* Mask is now just a pointer to Smask. This is because Mask is a declared
 * variable in X11 library. So if you are not using X11, you can uncomment
 * the following line and keep using Mask as before. However, if you want
 * to use X11 graphic in your application program, you can simply use Smask
 * instead. 
 */
/* static int *Mask = Smask; */

/* The Laser vector is an array of 965 elements. The Laser vector
 * can contain laser data in one of the three formats: pixel, point, or line.
 *
 *    In pixel mode (not available in simulation, Laser[0] keeps the number of 
 *    pixels in the Laser vector. The can be a maximum of 482 pixels.
 *
 *    In point mode, Laser[0] keeps the number of points. Each point is 
 *    specified y the two numbers: the x and y coordinates of the point in 
 *    the robot's local coordinate. There can be a maximum of 482 points 
 *    (thus 964 numbers).
 *
 *    In line mode, Laser[0] keeps the number of lines. Each line segment is 
 *    specified by its two end points and each end point is specified by its 
 *    x and y coordinates in the robot's local coordinate. There can be a 
 *    maximum of 241 points. 
 */