types.h

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#ifndef CREATE_TYPES_H
#define CREATE_TYPES_H

#include <vector>
#include <stdint.h>
#include <string>
#include <stdexcept>

namespace create {
  enum ProtocolVersion {
    V_1 = 1,
    V_2 = 2,
    V_3 = 4,
    V_ALL = 0xFFFFFFFF
  };

  class RobotModel {
    public:
      bool operator==(RobotModel& other) const;
      operator uint32_t() const;

      uint32_t getId() const;
      ProtocolVersion getVersion() const;
      float getAxleLength() const;
      unsigned int getBaud() const;
      float getMaxVelocity() const;
      float getWheelDiameter() const;

      static RobotModel ROOMBA_400;

      static RobotModel CREATE_1;

      static RobotModel CREATE_2;

    private:
      uint32_t id;
      ProtocolVersion version;
      float axleLength;
      unsigned int baud;
      float maxVelocity;
      float wheelDiameter;

      RobotModel(const ProtocolVersion version, const float axleLength, const unsigned int baud, const float maxVelocity = 0.5, const float wheelDiameter = 0.078);
      static uint32_t nextId;
  };

  enum SensorPacketID {
    ID_GROUP_0 = 0,
    ID_GROUP_1 = 1,
    ID_GROUP_2 = 2,
    ID_GROUP_3 = 3,
    ID_GROUP_4 = 4,
    ID_GROUP_5 = 5,
    ID_GROUP_6 = 6,
    ID_GROUP_100 = 100,
    ID_GROUP_101 = 101,
    ID_GROUP_106 = 106,
    ID_GROUP_107 = 107,
    ID_BUMP_WHEELDROP = 7,
    ID_WALL = 8,
    ID_CLIFF_LEFT = 9,
    ID_CLIFF_FRONT_LEFT = 10,
    ID_CLIFF_FRONT_RIGHT = 11,
    ID_CLIFF_RIGHT = 12,
    ID_VIRTUAL_WALL = 13,
    ID_OVERCURRENTS = 14,
    ID_DIRT_DETECT_LEFT = 15,
    ID_DIRT_DETECT_RIGHT = 16,
    ID_IR_OMNI = 17,
    ID_IR_LEFT = 52,
    ID_IR_RIGHT = 53,
    ID_BUTTONS = 18,
    ID_DISTANCE = 19,
    ID_ANGLE = 20,
    ID_CHARGE_STATE = 21,
    ID_VOLTAGE = 22,
    ID_CURRENT = 23,
    ID_TEMP = 24,
    ID_CHARGE = 25,
    ID_CAPACITY = 26,
    ID_WALL_SIGNAL = 27,
    ID_CLIFF_LEFT_SIGNAL = 28,
    ID_CLIFF_FRONT_LEFT_SIGNAL = 29,
    ID_CLIFF_FRONT_RIGHT_SIGNAL = 30,
    ID_CLIFF_RIGHT_SIGNAL = 31,
    ID_CARGO_BAY_DIGITAL_INPUTS = 32,
    ID_CARGO_BAY_ANALOG_SIGNAL = 33,
    ID_CHARGE_SOURCE = 34,
    ID_OI_MODE = 35,
    ID_SONG_NUM = 36,
    ID_PLAYING = 37,
    ID_NUM_STREAM_PACKETS = 38,
    ID_VEL = 39,
    ID_RADIUS = 40,
    ID_RIGHT_VEL = 41,
    ID_LEFT_VEL = 42,
    ID_LEFT_ENC = 43,
    ID_RIGHT_ENC = 44,
    ID_LIGHT = 45,
    ID_LIGHT_LEFT = 46,
    ID_LIGHT_FRONT_LEFT = 47,
    ID_LIGHT_CENTER_LEFT = 48,
    ID_LIGHT_CENTER_RIGHT = 49,
    ID_LIGHT_FRONT_RIGHT = 50,
    ID_LIGHT_RIGHT = 51,
    ID_LEFT_MOTOR_CURRENT = 54,
    ID_RIGHT_MOTOR_CURRENT = 55,
    ID_MAIN_BRUSH_CURRENT = 56,
    ID_SIDE_BRUSH_CURRENT = 57,
    ID_STASIS = 58,
    ID_NUM = 52
  };

  enum Opcode {
    OC_START = 128,
    OC_RESET = 7,
    OC_STOP = 173,
    OC_BAUD = 129,
    OC_CONTROL = 130,
    OC_SAFE = 131,
    OC_FULL = 132,
    OC_CLEAN = 135,
    OC_MAX = 136,
    OC_SPOT = 134,
    OC_DOCK = 143,
    OC_POWER = 133,
    OC_SCHEDULE = 167,
    OC_DATE = 168,
    OC_DRIVE = 137,
    OC_DRIVE_DIRECT = 145,
    OC_DRIVE_PWM = 146,
    OC_MOTORS = 138,
    OC_MOTORS_PWM = 144,
    OC_LEDS = 139,
    OC_SCHEDULING_LEDS = 162,
    OC_DIGIT_LEDS_RAW = 163,
    OC_BUTTONS = 165,
    OC_DIGIT_LEDS_ASCII = 164,
    OC_SONG = 140,
    OC_PLAY = 141,
    OC_SENSORS= 142,
    OC_QUERY_LIST=149,
    OC_STREAM = 148,
    OC_TOGGLE_STREAM = 150,
  };

  enum BAUDCODE {
    BAUD_300 = 0,
    BAUD_600 = 1,
    BAUD_1200 = 2,
    BAUD_2400 = 3,
    BAUD_4800 = 4,
    BAUD_9600 = 5,
    BAUD_14400 = 6,
    BAUD_19200 = 7,
    BAUD_28800 = 8,
    BAUD_38400 = 9,
    BAUD_57600 = 10,
    BAUD_115200 = 11
  };

  enum CreateMode {
    MODE_OFF = 0,
    MODE_PASSIVE = 1,
    MODE_SAFE = 2,
    MODE_FULL = 3,
    MODE_UNAVAILABLE = -1
  };

  enum CleanMode {
    CLEAN_DEFAULT = OC_CLEAN,
    CLEAN_MAX = OC_MAX,
    CLEAN_SPOT = OC_SPOT
  };

  enum ChargingState {
    CHARGE_NONE = 0,
    CHARGE_RECONDITION = 1,
    CHARGE_FULL = 2,
    CHARGE_TRICKLE = 3,
    CHARGE_WAITING = 4,
    CHARGE_FAULT = 5
  };

  enum DayOfWeek {
    SUN = 0,
    MON = 1,
    TUE = 2,
    WED = 3,
    THU = 4,
    FRI = 5,
    SAT = 6
  };

  enum IRChars {
    IR_CHAR_NONE = 0,
    IR_CHAR_LEFT = 129,
    IR_CHAR_FORWARD = 130,
    IR_CHAR_RIGHT = 131,
    IR_CHAR_SPOT = 132,
    IR_CHAR_MAX = 133,
    IR_CHAR_SMALL = 134,
    IR_CHAR_MEDIUM = 135,
    IR_CHAR_LARGE = 136,
    IR_CHAR_CLEAN = 136,
    IR_CHAR_PAUSE = 137,
    IR_CHAR_POWER = 138,
    IR_CHAR_ARC_LEFT = 139,
    IR_CHAR_ARC_RIGHT = 140,
    IR_CHAR_STOP = 141,
    IR_CHAR_DOWNLOAD = 142,
    IR_CHAR_SEEK_DOCK = 143,
    IR_CHAR_DOCK_RESERVED = 240,
    IR_CHAR_RED_BUOY = 248,
    IR_CHAR_GREEN_BUOY = 244,
    IR_CHAR_FORCE_FIELD = 242,
    IR_CHAR_RED_GREEN_BUOY = 252,
    IR_CHAR_RED_FORCE_FIELD = 250,
    IR_CHAR_GREEN_FORCE_FIELD = 246,
    IR_CHAR_RED_GREEN_FORCE_FIELD = 254,
    IR_CHAR_600_DOCK_RESERVED = 160,
    IR_CHAR_600_FORCE_FIELD = 161,
    IR_CHAR_600_GREEN_BUOY = 164,
    IR_CHAR_600_GREEN_FORCE_FIELD = 165,
    IR_CHAR_600_RED_BUOY = 168,
    IR_CHAR_600_RED_FORCE_FIELD = 169,
    IR_CHAR_600_RED_GREEN_BUOY = 172,
    IR_CHAR_600_RED_GREEN_FORCE_FIELD = 173,
    IR_CHAR_VIRTUAL_WALL = 162
  };

  struct Pose {
    float x;
    float y;
    float yaw;

    std::vector<float> covariance;
  };

  typedef Pose Vel;
} // namespace create

#endif // CREATE_TYPES_H