robot_params.hpp

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/*
 *  P2OS for ROS
 *  Copyright (C) 2009  David Feil-Seifer, Brian Gerkey, Kasper Stoy,
 *      Richard Vaughan, & Andrew Howard
 *  Copyright (C) 2018  Hunter L. Allen
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
#ifndef P2OS_DRIVER__ROBOT_PARAMS_HPP_
#define P2OS_DRIVER__ROBOT_PARAMS_HPP_
/*
 * robot_params.hpp
 *
 * ActivMedia robot parameters, automatically generated by saphconv.tcl from
 * Saphira parameter files:
 *    amigo.p
 *    amigo-sh.p
 *    p2at.p
 *    p2at8+.p
 *    p2at8.p
 *    p2ce.p
 *    p2d8+.p
 *    p2d8.p
 *    p2de.p
 *    p2df.p
 *    p2dx.p
 *    p2it.p
 *    p2pb.p
 *    p2pp.p
 *    p3at-sh.p
 *    p3at.p
 *    p3atiw.p
 *    p3dx-sh.p
 *    p3dx.p
 *    peoplebot-sh.p
 *    perfpb+.p
 *    perfpb.p
 *    pion1m.p
 *    pion1x.p
 *    pionat.p
 *    powerbot-sh.p
 *    powerbot.p
 *    psos1m.p
 *    psos1x.p
 *    p3dx-sh-lms1xx.p
*/
#include <string>

void initialize_robot_params(void);


#define PLAYER_NUM_ROBOT_TYPES 30

// Default max speeds
#define MOTOR_DEF_MAX_SPEED 0.5
#define MOTOR_DEF_MAX_TURNSPEED DTOR(100)

/*
 * Apparently, newer kernel require a large value (200000) here.  It only
 * makes the initialization phase take a bit longer, and doesn't have any
 * impact on the speed at which packets are received from P2OS
 */
#define P2OS_CYCLETIME_USEC 200000

/* p2os constants */

#define P2OS_NOMINAL_VOLTAGE 12.0

/* Command numbers */
#define SYNC0 0
#define SYNC1 1
#define SYNC2 2

enum P2OSCommand
{
  PULSE = 0,
  OPEN = 1,
  CLOSE = 2,
  ENABLE = 4,
  SETA = 5,
  SETV = 6,
  SETO = 7,
  MOVE = 8,  // int, translational move (mm)
  ROTATE = 9,  // int, set rotational velocity, duplicate of RVEL (deg/sec)
  SETRV = 10,  // int, sets the maximum rotational velocity (deg/sec)
  VEL = 11,
  HEAD = 12,  // int, turn to absolute heading 0-359 (degrees)
  DHEAD = 13,  // int, turn relative to current heading (degrees)
  // DROTATE = 14, does not really exist
  SAY = 15,  // string, makes the robot beep.
             // up to 20 pairs of duration (20 ms incrs) and tones (halfcycle)
  JOYINFO = 17,  // int, requests joystick packet, 0 to stop, 1 for 1, 2 for
                 // continuous
  CONFIG = 18,  // int, request configuration packet
  ENCODER = 19,  // int, > 0 to request continous stream of packets, 0 to stop
  RVEL = 21,
  DCHEAD = 22,  // int, colbert relative heading setpoint (degrees)
  SETRA = 23,
  SONAR = 28,
  STOP = 29,
  DIGOUT = 30,  // int, sets the digout lines
  // TIMER = 31, ... no clue about this one
  VEL2 = 32,
  GRIPPER = 33,
  // KICK = 34, um...
  ADSEL = 35,  // int, select the port given as argument
  GRIPPERVAL = 36,
  GRIPPERPACREQUEST = 37,  // p2 gripper packet request
  IOREQUEST = 40,  // request iopackets from p2os
  PTUPOS = 41,  // most-sig byte is port number, least-sig byte is pulse width
  TTY2 = 42,   // Added in AmigOS 1.2
  GETAUX = 43,  // Added in AmigOS 1.2
  BUMP_STALL = 44,
  TCM2 = 45,  // TCM2 module commands, see tcm2 manual for details
  JOYDRIVE = 47,
  MOVINGBLINK = 49,  // int, 1 to blink lamp quickly before moving, 0 not to
  HOSTBAUD = 50,  // int, set baud rate for host port - 0=9600, 1=19200,
  AUX1BAUD = 51,  // int, set baud rate for Aux1 - 0=9600, 1=19200, 2=38400,
  AUX2BAUD = 52,  // int, set baud rate for Aux2 - 0=9600, 1=19200, 2=38400,
  ESTOP = 55,  // none, emergency stop, overrides decel
  ESTALL = 56,  // ?
  GYRO = 58,  // Added in AROS 1.8
  // SRISIM specific:

  // for calibrating the compass:
  CALCOMP = 65,  // int, commands for calibrating compass, see compass manual

  TTY3 = 66,   // Added in AmigOS 1.3
  GETAUX2 = 67,  // Added in AmigOS 1.3
  ARM_INFO = 70,
  ARM_STATUS = 71,
  ARM_INIT = 72,
  ARM_CHECK = 73,
  ARM_POWER = 74,
  ARM_HOME = 75,
  ARM_PARK = 76,
  ARM_POS = 77,
  ARM_SPEED = 78,
  ARM_STOP = 79,
  ARM_AUTOPARK = 80,
  ARM_GRIPPARK = 81,

  ROTKP = 82,        // Added in P2OS1.M
  ROTKV = 83,        // Added in P2OS1.M
  ROTKI = 84,        // Added in P2OS1.M
  TRANSKP = 85,      // Added in P2OS1.M
  TRANSKV = 86,      // Added in P2OS1.M
  TRANSKI = 87,      // Added in P2OS1.M
  SOUND = 90,
  PLAYLIST = 91,
  SOUNDTOG = 92,  // int, AmigoBot (old H8 model) specific, enable(1) or
  // Power commands
  POWER_PC = 95,
  POWER_LRF = 96,
  POWER_5V = 97,
  POWER_12V = 98,
  POWER_24V = 98,
  POWER_AUX_PC = 125,
  POWER_TOUCHSCREEN = 126,
  POWER_PTZ = 127,
  POWER_AUDIO = 128,
  POWER_LRF2 = 129,

  // For SEEKUR or later lateral-capable robots
  LATVEL = 110,  // int, sets the lateral velocity (mm)
  LATACCEL = 113,  // int, sets the lateral acceleration (+, mm/sec2) or
  SETLATV = 0,  // int, someday will set the vel
};

/* Server Information Packet (SIP) types */
#define STATUSSTOPPED 0x32
#define STATUSMOVING  0x33
#define ENCODER   0x90
#define SERAUX    0xB0
#define SERAUX2   0xB8  // Added in AmigOS 1.3
#define GYROPAC         0x98    // Added AROS 1.8
#define ARMPAC    160   // ARMpac
#define ARMINFOPAC  161   // ARMINFOpac
// #define PLAYLIST  0xD0

/* Argument types */
#define ARGINT    0x3B  // Positive int (LSB, MSB)
#define ARGNINT   0x1B  // Negative int (LSB, MSB)
#define ARGSTR    0x2B  // String (Note: 1st byte is length!!)

/* gripper stuff */
#define GRIPopen   1
#define GRIPclose  2
#define GRIPstop   3
#define LIFTup     4
#define LIFTdown   5
#define LIFTstop   6
#define GRIPstore  7
#define GRIPdeploy 8
#define GRIPhalt   15
#define GRIPpress  16
#define LIFTcarry  17

/* CMUcam stuff */
#define CMUCAM_IMAGE_WIDTH  80
#define CMUCAM_IMAGE_HEIGHT 143
#define CMUCAM_MESSAGE_LEN  10

/* conection stuff */
#define DEFAULT_P2OS_PORT "/dev/ttyS0"
#define DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"
#define DEFAULT_P2OS_TCP_REMOTE_PORT 8101

/* degrees and radians */
#define DTOR(a) M_PI * a / 180.0
#define RTOD(a) 180.0 * a / M_PI

typedef struct
{
  double x;
  double y;
  double th;
  double length;
  double radius;
} bumper_def_t;

typedef struct
{
  double x;
  double y;
  double th;
} sonar_pose_t;


typedef struct
{
  double AngleConvFactor;
  std::string Class;
  double DiffConvFactor;
  double DistConvFactor;
  int FrontBumpers;
  double GyroScaler;
  int HasMoveCommand;
  int Holonomic;
  int IRNum;
  int IRUnit;
  int LaserFlipped;
  std::string LaserIgnore;
  std::string LaserPort;
  int LaserPossessed;
  int LaserPowerControlled;
  int LaserTh;
  int LaserX;
  int LaserY;
  int MaxRVelocity;
  int MaxVelocity;
  int NewTableSensingIR;
  int NumFrontBumpers;
  int NumRearBumpers;
  double RangeConvFactor;
  int RearBumpers;
  int RequestEncoderPackets;
  int RequestIOPackets;
  int RobotDiagonal;
  int RobotLength;
  int RobotRadius;
  int RobotWidth;
  int RotAccel;
  int RotDecel;
  int RotVelMax;
  int SettableAccsDecs;
  int SettableVelMaxes;
  int SonarNum;
  std::string Subclass;
  int SwitchToBaudRate;
  int TableSensingIR;
  int TransAccel;
  int TransDecel;
  int TransVelMax;
  int Vel2Divisor;
  double VelConvFactor;
  sonar_pose_t sonar_pose[32];
  // bumper_def_t bumper_geom[32];
} RobotParams_t;

extern RobotParams_t PlayerRobotParams[];

#endif  // P2OS_DRIVER__ROBOT_PARAMS_HPP_