ypspur.h

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#ifndef YPSPUR_H
#define YPSPUR_H

#include <ypparam.h>

#ifdef __cplusplus
extern "C" {
#endif  // __cplusplus

/* YPSpurコマンド集 */
#define Spur_init() YPSpur_init()
#define Spur_initex(msq) YPSpur_initex(msq)
#define Spur_init_socket(ip, port) YPSpur_init_socket(ip, port)
#define Spur_stop() YPSpur_stop()
#define Spur_free() YPSpur_free()

#define Spur_freeze() YPSpur_freeze()
#define Spur_isfreeze() YPSpur_isfreeze()
#define Spur_unfreeze() YPSpur_unfreeze()

#define Spur_line_GL(x, y, th) YPSpur_line(CS_GL, x, y, th)
#define Spur_line_LC(x, y, th) YPSpur_line(CS_LC, x, y, th)
#define Spur_line_FS(x, y, th) YPSpur_line(CS_FS, x, y, th)
#define Spur_line_BS(x, y, th) YPSpur_line(CS_BS, x, y, th)
#define Spur_line_BL(x, y, th) YPSpur_line(CS_BL, x, y, th)

#define Spur_stop_line_GL(x, y, th) YPSpur_stop_line(CS_GL, x, y, th)
#define Spur_stop_line_LC(x, y, th) YPSpur_stop_line(CS_LC, x, y, th)
#define Spur_stop_line_FS(x, y, th) YPSpur_stop_line(CS_FS, x, y, th)
#define Spur_stop_line_BS(x, y, th) YPSpur_stop_line(CS_BS, x, y, th)
#define Spur_stop_line_BL(x, y, th) YPSpur_stop_line(CS_BL, x, y, th)

#define Spur_circle_GL(x, y, d) YPSpur_circle(CS_GL, x, y, d)
#define Spur_circle_LC(x, y, d) YPSpur_circle(CS_LC, x, y, d)
#define Spur_circle_FS(x, y, d) YPSpur_circle(CS_FS, x, y, d)
#define Spur_circle_BS(x, y, d) YPSpur_circle(CS_BS, x, y, d)
#define Spur_circle_BL(x, y, d) YPSpur_circle(CS_BL, x, y, d)

#define Spur_spin_GL(th) YPSpur_spin(CS_GL, th)
#define Spur_spin_LC(th) YPSpur_spin(CS_LC, th)
#define Spur_spin_FS(th) YPSpur_spin(CS_FS, th)
#define Spur_spin_BS(th) YPSpur_spin(CS_BS, th)
#define Spur_spin_BL(th) YPSpur_spin(CS_BL, th)

#define Spur_orient_GL(th) YPSpur_orient(CS_GL, th)
#define Spur_orient_LC(th) YPSpur_orient(CS_LC, th)
#define Spur_orient_FS(th) YPSpur_orient(CS_FS, th)
#define Spur_orient_BS(th) YPSpur_orient(CS_BS, th)
#define Spur_orient_BL(th) YPSpur_orient(CS_BL, th)

#define Spur_set_pos_GL(x, y, th) YPSpur_set_pos(CS_GL, x, y, th)
#define Spur_set_pos_LC(x, y, th) YPSpur_set_pos(CS_LC, x, y, th)
#define Spur_set_pos_BL(x, y, th) YPSpur_set_pos(CS_BL, x, y, th)

#define Spur_set_vel(v) YPSpur_set_vel(v)
#define Spur_set_angvel(w) YPSpur_set_angvel(w)
#define Spur_set_accel(v) YPSpur_set_accel(v)
#define Spur_set_angaccel(w) YPSpur_set_angaccel(w)

#define Spur_adjust_pos_GL(x, y, th) YPSpur_adjust_pos(CS_GL, x, y, th)
#define Spur_adjust_pos_LC(x, y, th) YPSpur_adjust_pos(CS_LC, x, y, th)
#define Spur_adjust_pos_FS(x, y, th) YPSpur_adjust_pos(CS_FS, x, y, th)
#define Spur_adjust_pos_BS(x, y, th) YPSpur_adjust_pos(CS_BS, x, y, th)
#define Spur_adjust_pos_BL(x, y, th) YPSpur_adjust_pos(CS_BL, x, y, th)

#define Spur_get_pos_GL(x, y, th) YPSpur_get_pos(CS_GL, x, y, th)
#define Spur_get_pos_LC(x, y, th) YPSpur_get_pos(CS_LC, x, y, th)
#define Spur_get_pos_BS(x, y, th) YPSpur_get_pos(CS_BS, x, y, th)
#define Spur_get_pos_BL(x, y, th) YPSpur_get_pos(CS_BL, x, y, th)

#define Spur_get_vel(v, w) YPSpur_get_vel(v, w)
#define Spur_get_force(trans, angular) YPSpur_get_force(trans, angular)

#define Spur_near_pos_GL(x, y, r) YPSpur_near_pos(CS_GL, x, y, r)
#define Spur_near_pos_LC(x, y, r) YPSpur_near_pos(CS_LC, x, y, r)
#define Spur_near_pos_BS(x, y, r) YPSpur_near_pos(CS_BS, x, y, r)
#define Spur_near_pos_BL(x, y, r) YPSpur_near_pos(CS_BL, x, y, r)

#define Spur_near_ang_GL(th, d) YPSpur_near_ang(CS_GL, th, d)
#define Spur_near_ang_LC(th, d) YPSpur_near_ang(CS_LC, th, d)
#define Spur_near_ang_BS(th, d) YPSpur_near_ang(CS_BS, th, d)
#define Spur_near_ang_BL(th, d) YPSpur_near_ang(CS_BL, th, d)

#define Spur_over_line_GL(x, y, th) YPSpur_over_line(CS_GL, x, y, th)
#define Spur_over_line_LC(x, y, th) YPSpur_over_line(CS_LC, x, y, th)
#define Spur_over_line_BS(x, y, th) YPSpur_over_line(CS_BS, x, y, th)
#define Spur_over_line_BL(x, y, th) YPSpur_over_line(CS_BL, x, y, th)

#define Spur_vel(v, w) YPSpur_vel(v, w)

#define Spur_tilt_GL(d, t) YPSpur_tilt(CS_GL, d, t)
#define Spur_tilt_LC(d, t) YPSpur_tilt(CS_LC, d, t)
#define Spur_tilt_FS(d, t) YPSpur_tilt(CS_FS, d, t)
#define Spur_tilt_BS(d, t) YPSpur_tilt(CS_BS, d, t)
#define Spur_tilt_BL(d, t) YPSpur_tilt(CS_BL, d, t)

int YPSpur_init(void);
int YPSpur_initex(int msq_key);
int YPSpur_init_socket(char *ip, int port);

int YPSpur_isfreeze(void);
int YPSpur_freeze(void);
int YPSpur_unfreeze(void);

int YPSpur_stop(void);
int YPSpur_free(void);
int YP_openfree(void);

int YPSpur_line(int cs, double x, double y, double theta);
int YPSpur_stop_line(int cs, double x, double y, double theta);
int YPSpur_circle(int cs, double x, double y, double r);
int YPSpur_spin(int cs, double theta);
int YPSpur_orient(int cs, double theta);

int YPSpur_set_pos(int cs, double x, double y, double theta);
int YPSpur_adjust_pos(int cs, double x, double y, double theta);
int YPSpur_set_vel(double v);
int YPSpur_set_angvel(double w);
int YPSpur_set_accel(double v);
int YPSpur_set_angaccel(double w);

double YPSpur_get_pos(int cs, double *x, double *y, double *theta);
double YPSpur_get_vel(double *v, double *w);
double YPSpur_get_force(double *trans, double *angular);

int YPSpur_near_pos(int cs, double x, double y, double r);
int YPSpur_near_ang(int cs, double th, double d);
int YPSpur_over_line(int cs, double x, double y, double theta);

int YPSpur_vel(double v, double w);

int YPSpur_tilt(int cs, double dir, double tilt);

/* 裏コマンド集 */
int YP_get_error_state(void);
void YP_request_device_dump(int id, int block);

int YP_set_parameter(int param_id, double value);
int YP_set_parameter_array(int param_id, double *value);
int YP_get_parameter(int param_id, double *value);
int YP_get_parameter_array(int param_id, double *value);
int YP_set_control_state(int control_id, int state);

int YP_get_ad_value(int num);
int YP_set_io_dir(unsigned char dir);
int YP_set_io_data(unsigned char data);
double YP_get_device_error_state(int id, int *err);
int YP_wheel_vel(double r, double l);
int YP_wheel_torque(double r, double l);
double YP_get_wheel_vel(double *wr, double *wl);
double YP_get_wheel_ang(double *theta_r, double *theta_l);
double YP_get_wheel_torque(double *torque_r, double *torque_l);
int YP_wheel_ang(double r, double l);
int YP_set_wheel_accel(double r, double l);
int YP_set_wheel_vel(double r, double l);
double YP_get_vref(double *vref, double *wref);
double YP_get_wheel_vref(double *wrref, double *wlref);

int YP_joint_torque(int id, double t);
int YP_joint_vel(int id, double v);
int YP_joint_ang(int id, double a);
int YP_joint_ang_vel(int id, double a, double v);
int YP_set_joint_accel(int id, double a);
int YP_set_joint_vel(int id, double v);
double YP_get_joint_vel(int id, double *v);
double YP_get_joint_vref(int id, double *v);
double YP_get_joint_ang(int id, double *a);
double YP_get_joint_torque(int id, double *t);

#define YPSPUR_JOINT_SUPPORT 1
#define YPSPUR_JOINT_ANG_VEL_SUPPORT 1
#define YPSPUR_GET_DEVICE_ERROR_STATE_SUPPORT 1

#ifdef __cplusplus
}
#endif  // __cplusplus
#endif  // YPSPUR_H