commands.h

RefBox

/*
 * TITLE:	Commands.h
 *
 * PURPOSE: This file contains the constants that define the various 
 *			serial commands the referee box can send to the operating
 *			computers.
 *
 * WRITTEN BY: Brett Browning
 */
/* LICENSE:  =========================================================================
    RoboCup F180 Referee Box Source Code Release
  -------------------------------------------------------------------------
    Copyright (C) 2003 RoboCup Federation
  -------------------------------------------------------------------------
    This software is distributed under the GNU General Public License,
    version 2.  If you do not have a copy of this licence, visit
    www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
    Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
    in the hope that it will be useful, but WITHOUT ANY WARRANTY,
    including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  ------------------------------------------------------------------------- 

 */

#ifndef __COMMANDS_H__
#define __COMMANDS_H__

/* Baud rate */
#define COMM_BAUD_RATE			9600

// play commands
#define COMM_STOP		         'S'
#define COMM_START		       's'
#define COMM_HALT	           'H'
#define COMM_READY	         ' '

// game flow commands
#define COMM_FIRST_HALF		   '1'
#define COMM_HALF_TIME		   'h'
#define COMM_SECOND_HALF	   '2'
#define COMM_OVER_TIME1		   'o'
#define COMM_OVER_TIME2		   'O'
#define COMM_PENALTY_SHOOTOUT	   'a'

#define COMM_CANCEL                'c'

// goal status
#define COMM_GOAL_YELLOW	   'g'
#define COMM_GOAL_BLUE		   'G'
#define COMM_SUBGOAL_YELLOW	   'd'
#define COMM_SUBGOAL_BLUE	   'D'

/* game flow commands */
#define COMM_RESTART		  'n'

#define COMM_CORNER 		  'C'
#define COMM_THROWIN      'T'

#define COMM_KICKOFF_YELLOW	  'k'
#define COMM_KICKOFF_BLUE	  'K'

#define COMM_PENALTY_YELLOW	  'p'
#define COMM_PENALTY_BLUE	  'P'

// acceptable referee commands
#define COMM_CMD_STRING      "pPkKnCTdDgGcaoO2h1 HsS"

#endif /* __COMMANDS_H__ */