ndirect.c

卡内基梅隆大学（CMU）开发的移动机器人控制开发软件包。可对多种机器人进行控制

 *    int t_pr, s_pr, r_pr -- the specified relative distances of the
 *                            translation, steering, and turret motors.
 *                            t_pr is in 1/10 inch and s_pr and r_pr are
 *                            in 1/10 degrees.
 */
int pr(int t_pr, int s_pr, int r_pr)
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_three_signed_int(8, PR, t_pr, s_pr, r_pr, outbuf);
  return(Comm_Robot(Fd, outbuf));
}

/*
 * pa - moves the motors of the robot to the specified absolute positions 
 *      using the speeds set by sp().  Depending on the timeout period set 
 *      (by conf_tm()), the motion may terminate before the robot has 
 *      moved to the specified positions.
 *
 * parameters:
 *    int t_pa, s_pa, r_pa -- the specified absolute positions of the
 *                            translation, steering, and turret motors.
 *                            t_pa is in 1/10 inch and s_pa and r_pa are
 *                            in 1/10 degrees.
 */
int pa(int t_pa, int s_pa, int r_pa);
int pa(int t_pa, int s_pa, int r_pa)
{
  unsigned char outbuf[BUFSIZE];
  
  if (model != MODEL_N200)
  {
    return FALSE;
  }
  
  stuff_three_signed_int(8, PA, t_pa, s_pa, r_pa, outbuf);
  return(Comm_Robot(Fd, outbuf));
}

/*
 * vm - velocity mode, command the robot to move at translational
 *      velocity = tv, steering velocity = sv, and rotational velocity =
 *      rv. The robot will continue to move at these velocities until
 *      either it receives another command or this command has been
 *      timeout (in which case it will stop its motion).
 *
 * parameters: 
 *    int t_vm, s_vm, r_vm -- the desired translation, steering, and turret
 *                            velocities. tv is in 1/10 inch/sec and
 *                            sv and rv are in 1/10 degree/sec.
 */
int vm(int t_v, int s_v, int r_v)
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_three_signed_int(8, VM, t_v, s_v, r_v, outbuf);
  return(Comm_Robot(Fd, outbuf));
}

/*
 * mv - move, send a generalized motion command to the robot.
 *      For each of the three axis (translation, steering, and
 *      turret) a motion mode (t_mode, s_mode, r_mode) can be 
 *      specified (using the values MV_IGNORE, MV_AC, MV_SP,
 *      MV_LP, MV_VM, and MV_PR defined above):
 *
 *         MV_IGNORE : the argument for this axis is ignored
 *                     and the axis's motion will remain 
 *                     unchanged.
 *         MV_AC :     the argument for this axis specifies
 *                     an acceleration value that will be used
 *                     during motion commands.
 *         MV_SP :     the argument for this axis specifies
 *                     a speed value that will be used during
 *                     position relative (PR) commands.
 *         MV_LP :     the arguemnt for this axis is ignored
 *                     but the motor is turned off.
 *         MV_VM :     the argument for this axis specifies
 *                     a velocity and the axis will be moved
 *                     with this velocity until a new motion
 *                     command is issued (vm,pr,mv) or 
 *                     recieves a timeout.
 *         MV_PR :     the argument for this axis specifies
 *                     a position and the axis will be moved
 *                     to this position, unless this command
 *                     is overwritten by another (vm,pr,mv).
 *
 * parameters: 
 *    int t_mode - the desired mode for the tranlation axis
 *    int t_mv   - the value for that axis, velocity or position,
 *                 depending on t_mode
 *    int s_mode - the desired mode for the steering axis
 *    int s_mv   - the value for that axis, velocity or position,
 *                 depending on t_mode
 *    int r_mode - the desired mode for the turret axis
 *    int r_mv   - the value for that axis, velocity or position,
 *                 depending on t_mode
 */
int mv(int t_mode, int t_mv, int s_mode, 
       int s_mv, int r_mode, int r_mv) 
{
  unsigned char outbuf[BUFSIZE];
  unsigned char *ptr;

  ptr = outbuf;
  
  /* skip the first byte for begin package */
  ptr++;

  /* the length into the packet (# of ints * sizeof(int)) */
  unsigned_int_to_two_bytes ( 6 * 2 + 2, ptr ); ptr += 2;

  /* the packet type */
  *(ptr++) = MV;

  /* translational axis - mode and value */
  unsigned_int_to_two_bytes ( t_mode , ptr ); ptr += 2;
  signed_int_to_two_bytes   ( t_mv   , ptr ); ptr += 2;

  /* steering axis - mode and value */
  unsigned_int_to_two_bytes ( s_mode , ptr ); ptr += 2;
  signed_int_to_two_bytes   ( s_mv   , ptr ); ptr += 2;

  /* turret  axis - mode and value */
  unsigned_int_to_two_bytes ( r_mode , ptr ); ptr += 2;
  signed_int_to_two_bytes   ( r_mv   , ptr ); ptr += 2;

  return ( Comm_Robot(Fd, outbuf) );
}

/*
 * ct - send the sensor mask, Smask, to the robot. You must first change
 *      the global variable Smask to the desired communication mask before
 *      calling this function. 
 *
 *      to avoid inconsistencies usedSmask is used in all other function.
 *      once ct is called the user accessible mask Smask is used to 
 *      redefine usedSmask. This avoids that a returning package is encoded
 *      with a different mask than the one it was sent with, in case
 *      the mask has been changed on the client side, but has not been 
 *      updated on the server side.
 */
int ct()
{
  int i;
  unsigned char b0, b1, b2, b3, b4, b5, b6;
  unsigned char outbuf[BUFSIZE], *byte_ptr;

  if (model != MODEL_N200)
  {
    return FALSE;
  }
  
  for ( i = 0; i < NUM_MASK; i++ )
    usedSmask[i] = Smask[i];
  
  /* first encode Mask */
  b0 = bits_to_byte (Smask[1], Smask[2], Smask[3], Smask[4],
		     Smask[5], Smask[6], Smask[7], Smask[8]);
  b1 = bits_to_byte (Smask[9], Smask[10], Smask[11], Smask[12],
		     Smask[13], Smask[14], Smask[15], Smask[16]);
  b2 = bits_to_byte (Smask[17], Smask[18], Smask[19], Smask[20],
		     Smask[21], Smask[22], Smask[23], Smask[24]);
  b3 = bits_to_byte (Smask[25], Smask[26], Smask[27], Smask[28],
		     Smask[29], Smask[30], Smask[31], Smask[32]);
  b4 = bits_to_byte (Smask[33], Smask[34], Smask[35], Smask[36],
		     Smask[37], Smask[38], Smask[39], Smask[30]);
  b5 = bits_to_byte (Smask[42], 0, 0, 0, 0, 0, 0, 0);
  /* we pack the pos mask into b6 */
  b6 = bits_to_byte(Smask[43], 
		    POS_INFRARED_PI(Smask[ SMASK_POS_DATA ]),
		    POS_SONAR_PI   (Smask[ SMASK_POS_DATA ]), 
		    POS_BUMPER_PI  (Smask[ SMASK_POS_DATA ]), 
		    POS_LASER_PI   (Smask[ SMASK_POS_DATA ]), 
		    POS_COMPASS_PI (Smask[ SMASK_POS_DATA ]),
		    0,0);
  
  stuff_length_type (9, CT, outbuf);
  byte_ptr = outbuf + 4;
  *byte_ptr = b0;
  byte_ptr++;
  *byte_ptr = b1;
  byte_ptr++;
  *byte_ptr = b2;
  byte_ptr++;
  *byte_ptr = b3;
  byte_ptr++;
  *byte_ptr = b4;
  byte_ptr++;
  *byte_ptr = b5;
  byte_ptr++;
  *byte_ptr = b6;
  return(Comm_Robot(Fd, outbuf));
}

/*
 * gs - get the current state of the robot according to the mask (of 
 *      the communication channel)
 */
int gs()
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_length_type (2, GS, outbuf);
  return(Comm_Robot(Fd, outbuf));
}

/*
 * st - stops the robot (the robot holds its current position)
 */
int st()
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_length_type (2, ST, outbuf);
  return(Comm_Robot(Fd, outbuf));
}

/*
 * lp - set motor limp (the robot may not hold its position).
 */
int lp ()
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_length_type (2, LP, outbuf);
  return(Comm_Robot(Fd, outbuf));
}


/*
 * 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)
{
  unsigned char outbuf[BUFSIZE], *byte_ptr;
  int tkfd, i, length;
  
  if (model == MODEL_N200)
  {
    length = 3 + strlen(talk_string);
    stuff_length_type (length, TK, outbuf);
    byte_ptr = outbuf + 4;
    for (i=3; i<length; i++) {
      *byte_ptr = talk_string[i-3];
      byte_ptr++;
    }
    *byte_ptr = 0; /* null terminate the string */
    return(Comm_Robot(Fd, outbuf));
  }
  else
  {
    tkfd = open("/dev/dbtk", O_RDWR);
    if (tkfd >= 0)
    {
      write(tkfd, talk_string, strlen(talk_string));
      write(tkfd, "\n", 1);
      close(tkfd);
      
      return TRUE;
    }
  }
  
  return FALSE;
}

/*
 * 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)
{
  unsigned char outbuf[BUFSIZE];
  
  stuff_two_signed_int (6, DP, x, y, outbuf);
  return(Comm_Robot(Fd, outbuf));
}

/*
 * 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()
{
  unsigned char outbuf[BUFSIZE];
  int temp;
  
  wait_time =  NORMAL_TIMEOUT;
  /* zr() takes maximum of 120 seconds */
  stuff_length_type (2, ZR, outbuf);
  temp = Comm_Robot(Fd, outbuf);
  return(temp);
}

/*
 * 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])
{
  unsigned char outbuf[BUFSIZE], *byte_ptr;
  int i;
  
  if (model != MODEL_N200)
  {
    return FALSE;
  }
  
  stuff_length_type (19, CONF_IR, outbuf);
  byte_ptr = outbuf + 4;
  if (history > 10)
    history = 10;
  *byte_ptr = (unsigned char)history;
  for (i=0; i<16; i++) {
    byte_ptr++;
    *byte_ptr = (unsigned char)order[i];
  }
  return(Comm_Robot(Fd, outbuf));
}

/*
 * 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])
{
  unsigned char outbuf[BUFSIZE], *byte_ptr;
  int i;
  
  stuff_length_type (19, CONF_SN, outbuf);
    byte_ptr = outbuf + 4;
    *byte_ptr = (unsigned char)rate;
  for (i=0; i<16; i++) {
    byte_ptr++;
    *byte_ptr = (unsigned char)order[i];
  }
  return(Comm_Robot(Fd, outbuf));
}

/*
 * 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 wake till the robot stop rotating before
 *                issuing another command to the robot (takes ~3 minutes).
 */
int conf_cp(int mode)
{
  unsigned char outbuf[BUFSIZE], *byte_ptr;
  
  if (model != MODEL_N200)
  {
    return FALSE;
  }
  
  stuff_length_type (3, CONF_CP, outbuf);
  byte_ptr = outbuf + 4;
  *byte_ptr = (unsigned char)mode;
  return(Comm_Robot(Fd, outbuf));
}

/*
 * 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)
{
  unsigned char outbuf[BUFSIZE], *byte_ptr;
  
  if (model != MODEL_N200)
  {
    return FALSE;
  }
  
  laser_mode = mode;
  stuff_length_type (8, CONF_LS, outbuf);
  byte_ptr = outbuf + 4;
  if (mode == 51) 
    *byte_ptr = 35; /* special case */
  else
    *byte_ptr = (unsigned char)mode;
  byte_ptr++;
  *byte_ptr = (unsigned char)threshold;
  byte_ptr++;
  *byte_ptr = (unsigned char)width;
  byte_ptr++;
  unsigned_int_to_two_bytes(num_data, byte_ptr);
  byte_ptr = byte_ptr + 2;
  *byte_ptr = (unsigned char)processing;
  return(Comm_Robot(Fd, outbuf));
}

/*
 * 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)
{
  unsigned char outbuf[BUFSIZE], *byte_ptr;
  
  stuff_length_type (3, CONF_TM, outbuf);
  byte_ptr = outbuf + 4;
  *byte_ptr = (unsigned char)timeout;
  return(Comm_Robot(Fd, outbuf));
}

int conf_ser(unsigned char port, unsigned short baud)
{
  unsigned char *outbuf, buffer[BUFSIZE];
  
  if (model == MODEL_N200)
  {
    return FALSE;
  }
  
  outbuf=buffer;
  stuff_length_type(5, CONF_SER, outbuf);
  outbuf+=4;
  *outbuf=port;
  outbuf++;
  unsigned_int_to_two_byt