Classes |
| struct | _ConfigData |
| struct | _PosData |
| union | double_union |
| union | long_union |
| struct | reply_struct |
| struct | request_struct |
| union | short_union |
| union | ulong_union |
| union | ushort_union |
Defines |
| #define | ARM_MV 42 |
| #define | ARM_WS 41 |
| #define | ARM_ZR 40 |
| #define | BUFSIZE 4096 |
| #define | FALSE 0 |
| #define | INFRAREDS 16 |
| #define | LEFT(trans, steer) (trans - (int)((float)steer*ROTATION_CONSTANT)) |
| #define | MAX_USER_BUF 0xFFFF |
| #define | MAX_VERTICES 10 |
| #define | MODEL_N150 1 |
| #define | MODEL_N200 0 |
| #define | MODEL_SCOUT 2 |
| #define | MODEL_SCOUT2 2 |
| #define | MV_AC 4 /* set acceleration for vm, pr, pa modes*/ |
| #define | MV_IGNORE 0 |
| #define | MV_LP 3 /* limp mode */ |
| #define | MV_MT 8 /* set maximum torque for vm, pr, pa, tq modes */ |
| #define | MV_PA 6 /* position absolute mode */ |
| #define | MV_PR 2 /* position relative mode */ |
| #define | MV_SP 5 /* set velocity for pr, pa modes */ |
| #define | MV_TQ 7 /* torque mode */ |
| #define | MV_VM 1 /* velocity mode */ |
| #define | NULL 0 |
| #define | NUM_LASER 482 |
| #define | NUM_MASK 44 |
| #define | NUM_STATE 45 |
| #define | POS_BUMPER ( 1 << 2 ) |
| #define | POS_BUMPER_P ( ( (posDataCheck()) & POS_BUMPER ) ? 1 : 0 ) |
| #define | POS_COMPASS ( 1 << 4 ) |
| #define | POS_COMPASS_P ( ( (posDataCheck()) & POS_COMPASS ) ? 1 : 0 ) |
| #define | POS_INFRARED ( 1 << 0 ) |
| #define | POS_INFRARED_P ( ( (posDataCheck()) & POS_INFRARED ) ? 1 : 0 ) |
| #define | POS_IR_1 0 |
| #define | POS_IR_10 9 |
| #define | POS_IR_11 10 |
| #define | POS_IR_12 11 |
| #define | POS_IR_13 12 |
| #define | POS_IR_14 13 |
| #define | POS_IR_15 14 |
| #define | POS_IR_16 15 |
| #define | POS_IR_2 1 |
| #define | POS_IR_3 2 |
| #define | POS_IR_4 3 |
| #define | POS_IR_5 4 |
| #define | POS_IR_6 5 |
| #define | POS_IR_7 6 |
| #define | POS_IR_8 7 |
| #define | POS_IR_9 8 |
| #define | POS_LASER ( 1 << 3 ) |
| #define | POS_LASER_P ( ( (posDataCheck()) & POS_LASER ) ? 1 : 0 ) |
| #define | POS_NONE ( 0 << 0 ) |
| #define | POS_SONAR ( 1 << 1 ) |
| #define | POS_SONAR_1 0 |
| #define | POS_SONAR_10 9 |
| #define | POS_SONAR_11 10 |
| #define | POS_SONAR_12 11 |
| #define | POS_SONAR_13 12 |
| #define | POS_SONAR_14 13 |
| #define | POS_SONAR_15 14 |
| #define | POS_SONAR_16 15 |
| #define | POS_SONAR_2 1 |
| #define | POS_SONAR_3 2 |
| #define | POS_SONAR_4 3 |
| #define | POS_SONAR_5 4 |
| #define | POS_SONAR_6 5 |
| #define | POS_SONAR_7 6 |
| #define | POS_SONAR_8 7 |
| #define | POS_SONAR_9 8 |
| #define | POS_SONAR_P ( ( (posDataCheck()) & POS_SONAR ) ? 1 : 0 ) |
| #define | RIGHT(trans, steer) (trans + (int)((float)steer*ROTATION_CONSTANT)) |
| #define | ROTATION_CONSTANT 0.118597 /* inches/degree (known to 100 ppm) */ |
| #define | scout_vm(trans, steer) vm(RIGHT(trans, steer), LEFT(trans, steer), 0) |
| #define | SMASK_BUMPER 33 |
| #define | SMASK_COMPASS 43 |
| #define | SMASK_CONF_STEER 36 |
| #define | SMASK_CONF_TURRET 37 |
| #define | SMASK_CONF_X 34 |
| #define | SMASK_CONF_Y 35 |
| #define | SMASK_IR_1 1 |
| #define | SMASK_IR_10 10 |
| #define | SMASK_IR_11 11 |
| #define | SMASK_IR_12 12 |
| #define | SMASK_IR_13 13 |
| #define | SMASK_IR_14 14 |
| #define | SMASK_IR_15 15 |
| #define | SMASK_IR_16 16 |
| #define | SMASK_IR_2 2 |
| #define | SMASK_IR_3 3 |
| #define | SMASK_IR_4 4 |
| #define | SMASK_IR_5 5 |
| #define | SMASK_IR_6 6 |
| #define | SMASK_IR_7 7 |
| #define | SMASK_IR_8 8 |
| #define | SMASK_IR_9 9 |
| #define | SMASK_LASER 42 |
| #define | SMASK_POS_DATA 0 |
| #define | SMASK_RESERVED 41 |
| #define | SMASK_SONAR_1 17 |
| #define | SMASK_SONAR_10 26 |
| #define | SMASK_SONAR_11 27 |
| #define | SMASK_SONAR_12 28 |
| #define | SMASK_SONAR_13 29 |
| #define | SMASK_SONAR_14 30 |
| #define | SMASK_SONAR_15 31 |
| #define | SMASK_SONAR_16 32 |
| #define | SMASK_SONAR_2 18 |
| #define | SMASK_SONAR_3 19 |
| #define | SMASK_SONAR_4 20 |
| #define | SMASK_SONAR_5 21 |
| #define | SMASK_SONAR_6 22 |
| #define | SMASK_SONAR_7 23 |
| #define | SMASK_SONAR_8 24 |
| #define | SMASK_SONAR_9 25 |
| #define | SMASK_VEL_STEER 39 |
| #define | SMASK_VEL_TRANS 38 |
| #define | SMASK_VEL_TURRET 40 |
| #define | SONARS 16 |
| #define | STATE_BUMPER 33 |
| #define | STATE_COMPASS 43 |
| #define | STATE_CONF_STEER 36 |
| #define | STATE_CONF_TURRET 37 |
| #define | STATE_CONF_X 34 |
| #define | STATE_CONF_Y 35 |
| #define | STATE_ERROR 44 |
| #define | STATE_IR_0 1 |
| #define | STATE_IR_1 2 |
| #define | STATE_IR_10 11 |
| #define | STATE_IR_11 12 |
| #define | STATE_IR_12 13 |
| #define | STATE_IR_13 14 |
| #define | STATE_IR_14 15 |
| #define | STATE_IR_15 16 |
| #define | STATE_IR_2 3 |
| #define | STATE_IR_3 4 |
| #define | STATE_IR_4 5 |
| #define | STATE_IR_5 6 |
| #define | STATE_IR_6 7 |
| #define | STATE_IR_7 8 |
| #define | STATE_IR_8 9 |
| #define | STATE_IR_9 10 |
| #define | STATE_LASER 42 |
| #define | STATE_MOTOR_STATUS 41 |
| #define | STATE_SIM_SPEED 0 |
| #define | STATE_SONAR_0 17 |
| #define | STATE_SONAR_1 18 |
| #define | STATE_SONAR_10 27 |
| #define | STATE_SONAR_11 28 |
| #define | STATE_SONAR_12 29 |
| #define | STATE_SONAR_13 30 |
| #define | STATE_SONAR_14 31 |
| #define | STATE_SONAR_15 32 |
| #define | STATE_SONAR_2 19 |
| #define | STATE_SONAR_3 20 |
| #define | STATE_SONAR_4 21 |
| #define | STATE_SONAR_5 22 |
| #define | STATE_SONAR_6 23 |
| #define | STATE_SONAR_7 24 |
| #define | STATE_SONAR_8 25 |
| #define | STATE_SONAR_9 26 |
| #define | STATE_VEL_LEFT 39 /* for scout */ |
| #define | STATE_VEL_RIGHT 38 /* for scout */ |
| #define | STATE_VEL_STEER 39 |
| #define | STATE_VEL_TRANS 38 |
| #define | STATE_VEL_TURRET 40 |
| #define | TRUE 1 |
| #define | USER_BUFFER_LENGTH 0xFFFF |
| #define | ZR_CHECK 1 |
| #define | ZR_NO_N_GRIPPER 4 |
| #define | ZR_ORIENT 2 |
Typedefs |
| typedef struct _ConfigData | ConfigData |
| typedef struct _PosData | PosData |
| typedef unsigned long | TimeData |
Functions |
| int | ac (int t_ac, int s_ac, int r_ac) |
| int | add_Obs (long obs[2 *MAX_VERTICES+1]) |
| int | add_obstacle (long obs[2 *MAX_VERTICES+1]) |
| long | arm_mv (long l_mode, long l_v, long g_mode, long g_v) |
| long | arm_ws (short lift, short grip, long timeout, long *time_remain) |
| long | arm_zr (short mode) |
| int | conf_cp (int mode) |
| int | conf_ir (int history, int order[16]) |
| int | conf_ls (unsigned int mode, unsigned int threshold, unsigned int width, unsigned int num_data, unsigned int processing) |
| int | conf_sg (unsigned int threshold, unsigned int min_points, unsigned int gap) |
| int | conf_sn (int rate, int order[16]) |
| int | conf_tm (unsigned char timeout) |
| int | connect_robot (long robot_id,...) |
| int | create_robot (long robot_id) |
| int | ct (void) |
| int | da (int th, int tu) |
| int | delete_Obs (long obs[2 *MAX_VERTICES+1]) |
| int | delete_obstacle (long obs[2 *MAX_VERTICES+1]) |
| int | disconnect_robot (long robot_id) |
| int | dp (int x, int y) |
| int | draw_arc (long x_0, long y_0, long w, long h, int th1, int th2, int mode) |
| int | draw_line (long x_1, long y_1, long x_2, long y_2, int mode) |
| int | draw_robot (long x, long y, int th, int tu, int mode) |
| signed short | extract2byteint (unsigned char *buffer, unsigned short *index) |
| unsigned short | extract2byteuint (unsigned char *buffer, unsigned short *index) |
| signed long | extract4byteint (unsigned char *buffer, unsigned short *index) |
| unsigned long | extract4byteuint (unsigned char *buffer, unsigned short *index) |
| int | extract_receive_buffer_header (unsigned short *length, unsigned char *serial_number, unsigned char *packet_type, unsigned char *buffer) |
| signed char | extractchar (unsigned char *buffer, unsigned short *index) |
| double | extractdouble (unsigned char *buffer, unsigned short *index) |
| unsigned char | extractuchar (unsigned char *buffer, unsigned short *index) |
| int | get_bp (void) |
| int | get_cp (void) |
| int | get_ir (void) |
| int | get_laser (int laser[2 *NUM_LASER+1]) |
| int | get_ls (void) |
| int | get_mask (int mask[NUM_MASK]) |
| int | get_ra (void) |
| int | get_rc (void) |
| int | get_robot_conf (long *conf) |
| int | get_rpx (long *robot_pos) |
| int | get_rv (void) |
| int | get_sg (void) |
| int | get_sn (void) |
| int | get_state (long state[NUM_STATE]) |
| int | gs (void) |
| void | init_mask (void) |
| int | init_receive_buffer (unsigned short *index) |
| int | init_send_buffer (unsigned short *index) |
| int | init_sensors (void) |
| int | lp (void) |
| int | motion_check (long type, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double collide[3]) |
| int | move_Obs (long obs[2 *MAX_VERTICES+1], long dx, long dy) |
| int | move_obstacle (long obs[2 *MAX_VERTICES+1], long dx, long dy) |
| int | mv (int t_mode, int t_mv, int s_mode, int s_mv, int r_mode, int r_mv) |
| int | new_world (void) |
| int | place_robot (int x, int y, int th, int tu) |
| int | posBumperGet (PosData *posData) |
| int | posCompassGet (PosData *posData) |
| int | posDataCheck (void) |
| int | posDataRequest (int posRequest) |
| int | posInfraredGet (PosData *posData, int infraredNumber) |
| int | posInfraredRingGet (PosData posData[INFRAREDS]) |
| int | posLaserGet (PosData *posData) |
| int | posSonarGet (PosData *posData, int sonarNumber) |
| int | posSonarRingGet (PosData posData[SONARS]) |
| int | posTimeGet (void) |
| int | pr (int t_pr, int s_pr, int r_pr) |
| int | predict_sensors (int x, int y, int th, int tu, long *state, int *laser) |
| int | quit_server (void) |
| int | real_robot (void) |
| int | refresh_actual_trace (void) |
| int | refresh_all (void) |
| int | refresh_all_sensors (void) |
| int | refresh_all_traces (void) |
| int | refresh_bumper_sensor (void) |
| int | refresh_client_graphics (void) |
| int | refresh_encoder_trace (void) |
| int | refresh_infrared_sensor (void) |
| int | refresh_laser_sensor (void) |
| int | refresh_sonar_sensor (void) |
| int | server_is_running (void) |
| int | set_mask (int mask[NUM_MASK]) |
| int | set_serv_tcp_port (int port) |
| int | set_server_machine_name (char *sname) |
| int | simulated_robot (void) |
| int | sp (int t_sp, int s_sp, int r_sp) |
| int | special_request (unsigned char *user_send_buffer, unsigned char *user_receive_buffer) |
| int | st (void) |
| int | stuff2byteint (signed short data, unsigned char *buffer, unsigned short *index) |
| int | stuff2byteuint (unsigned short data, unsigned char *buffer, unsigned short *index) |
| int | stuff4byteint (signed long data, unsigned char *buffer, unsigned short *index) |
| int | stuff4byteuint (unsigned long data, unsigned char *buffer, unsigned short *index) |
| int | stuff_send_buffer_header (unsigned short index, unsigned char serial_number, unsigned char packet_type, unsigned char *buffer) |
| int | stuffchar (signed char data, unsigned char *buffer, unsigned short *index) |
| int | stuffdouble (double data, unsigned char *buffer, unsigned short *index) |
| int | stuffuchar (unsigned char data, unsigned char *buffer, unsigned short *index) |
| int | tk (char *talk_string) |
| int | vm (int t_vm, int s_vm, int r_vm) |
| float | voltCpuGet (void) |
| float | voltMotorGet (void) |
| int | ws (unsigned char t_ws, unsigned char s_ws, unsigned char r_ws, unsigned char timeout) |
| int | zr (void) |
Variables |
| int | CONN_TYPE |
| int | Laser [2 *NUM_LASER+1] |
| double | LASER_CALIBRATION [8] |
| double | LASER_OFFSET [2] |
| char | ROBOT_MACHINE_NAME [80] |
| int | ROBOT_TCP_PORT |
| int | SERIAL_BAUD |
| char | SERIAL_PORT [40] |
| int | SERV_TCP_PORT |
| char | SERVER_MACHINE_NAME [80] |
| int | Smask [NUM_MASK] |
| long | State [NUM_STATE] |
