Classes |
| struct | _PosDataAll |
Defines |
| #define | AC 1 |
| #define | ADD_OBS 32 |
| #define | CONF_CP 16 |
| #define | CONF_IR 14 |
| #define | CONF_LS 17 |
| #define | CONF_SER 35 |
| #define | CONF_SG 28 |
| #define | CONF_SN 15 |
| #define | CONF_TM 18 |
| #define | CONNECT_TIMEOUT 10 /* 10 seconds */ |
| #define | CT 6 |
| #define | DA 30 |
| #define | DELETE_OBS 33 |
| #define | DP 12 |
| #define | GET_BP 27 |
| #define | GET_CP 24 |
| #define | GET_IR 19 |
| #define | GET_LS 25 |
| #define | GET_RA 23 |
| #define | GET_RC 21 |
| #define | GET_RV 22 |
| #define | GET_SG 29 |
| #define | GET_SN 20 |
| #define | GS 7 |
| #define | LONG_B(x, y, z, q) |
| #define | LP 10 |
| #define | MOVE_OBS 34 |
| #define | MV 43 |
| #define | NAK 8 |
| #define | NORMAL_TIMEOUT 1 /* 1 second */ |
| #define | NUM_COMMANDS 36 |
| #define | PA 4 |
| #define | PLACE_ROBOT 36 |
| #define | POS_BUMPER_PI(x) ( ( (x) & POS_BUMPER ) ? 1 : 0 ) |
| #define | POS_COMPASS_PI(x) ( ( (x) & POS_COMPASS ) ? 1 : 0 ) |
| #define | POS_INFRARED_PI(x) ( ( (x) & POS_INFRARED ) ? 1 : 0 ) |
| #define | POS_LASER_PI(x) ( ( (x) & POS_LASER ) ? 1 : 0 ) |
| #define | POS_SONAR_PI(x) ( ( (x) & POS_SONAR ) ? 1 : 0 ) |
| #define | PR 3 |
| #define | RANGE_CPU_VOLTAGE 12.0 |
| #define | RANGE_MOTOR_VOLTAGE 12.85 |
| #define | RE_XMIT 0 /* not re-transmit when failed */ |
| #define | SERIAL_OPEN_ERROR 1 |
| #define | SERIAL_PKG_ERROR 4 |
| #define | SERIAL_READ_ERROR 3 |
| #define | SERIAL_TIMEOUT_ERROR 5 |
| #define | SERIAL_WRITE_ERROR 2 |
| #define | SETUP_LS 26 |
| #define | SP 2 |
| #define | SPECIAL 128 |
| #define | SPECIAL_TIMEOUT 30 /* used for user define package */ |
| #define | ST 9 |
| #define | TK 11 |
| #define | USER_BUFFER_LENGTH 0xFFFF |
| #define | VM 5 |
| #define | WS 31 |
| #define | ZR 13 |
Typedefs |
| typedef struct _PosDataAll | PosDataAll |
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 l, short g, long timeout, long *time_remain) |
| long | arm_zr (short override) |
| static unsigned char | bits_to_byte (char bt0, char bt1, char bt2, char bt3, char bt4, char bt5, char bt6, char bt7) |
| static unsigned char | buf_fill (int fd, int conn_type) |
| static long | combine_bumper_vector (unsigned char b1, unsigned char b2, unsigned char b3) |
| static int | Comm_Robot (int fd, unsigned char command[BUFSIZE]) |
| 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_ser (unsigned char port, unsigned short baud) |
| 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,...) |
| static void | convert_laser (int *laser) |
| static char * | convertAddr (char *name, char *addr) |
| int | create_robot (long robot_id) |
| int | ct () |
| 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 () |
| int | get_cp () |
| int | get_ir () |
| int | get_laser (int laser[2 *NUM_LASER+1]) |
| int | get_ls () |
| int | get_mask (int mask[NUM_MASK]) |
| int | get_ra () |
| int | get_rc () |
| int | get_robot_conf (long *conf) |
| int | get_rpx (long *robot_pos) |
| int | get_rv () |
| int | get_sg () |
| int | get_sn () |
| int | get_state (long state[NUM_STATE]) |
| static unsigned char | GETC (int fd, int conn_type) |
| int | gs () |
| static int | high_half (unsigned char num) |
| void | init_mask (void) |
| int | init_receive_buffer (unsigned short *index) |
| int | init_send_buffer (unsigned short *index) |
| int | init_sensors () |
| static int | low_half (unsigned char num) |
| int | lp () |
| 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 | open_serial (char *port, unsigned short baud) |
| int | pa (int t_pa, int s_pa, int r_pa) |
| 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) |
| static long | posLongExtract (unsigned char *inbuf) |
| static int | posPackageProcess (unsigned char *inbuf, PosData *posData) |
| int | posSonarGet (PosData *posData, int sonarNumber) |
| int | posSonarRingGet (PosData posData[SONARS]) |
| int | posTimeGet (void) |
| static unsigned long | posUnsignedLongExtract (unsigned char *inbuf) |
| 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) |
| static void | Process_Acceleration_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Bumper_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Compass_Conf_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Compass_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Configuration_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Infrared_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Laser_Line_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Laser_Point_Pkg (unsigned char inbuf[BUFSIZE]) |
| static int | Process_Robot_Resp (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Sonar_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Special_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_State_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | Process_Velocity_Pkg (unsigned char inbuf[BUFSIZE]) |
| static void | ProjectPhy (double xi1, double yi1, double *x, double *y) |
| int | quit_server (void) |
| static int | Read_Pkg (int fd, int conn_type, unsigned char *inbuf) |
| int | real_robot (void) |
| static int | serial_ready (int fd, int wait) |
| int | server_is_running () |
| int | set_mask (int mask[NUM_MASK]) |
| int | set_serv_tcp_port (int port) |
| int | set_server_machine_name (char *sname) |
| static void | signed_int_to_two_bytes (int n, unsigned char *byte_ptr) |
| 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 () |
| 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) |
| void | stuff_length_type (int length, int ptype, unsigned char *byte_ptr) |
| int | stuff_send_buffer_header (unsigned short index, unsigned char serial_number, unsigned char packet_type, unsigned char *buffer) |
| void | stuff_three_signed_int (int length, int ptype, int num1, int num2, int num3, unsigned char *byte_ptr) |
| void | stuff_three_unsigned_int (int length, int ptype, int num1, int num2, int num3, unsigned char *byte_ptr) |
| void | stuff_two_signed_int (int length, int ptype, int num1, int num2, unsigned char *byte_ptr) |
| 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) |
| static int | timePackageProcess (unsigned char *inbuf, unsigned long *timeS) |
| int | tk (char *talk_string) |
| static int | two_bytes_to_signed_int (unsigned char low_byte, unsigned char high_byte) |
| static unsigned int | two_bytes_to_unsigned_int (unsigned char low_byte, unsigned char high_byte) |
| static void | unsigned_int_to_two_bytes (int n, unsigned char *byte_ptr) |
| int | vm (int t_v, int s_v, int r_v) |
| static float | voltConvert (unsigned char reading, float range) |
| float | voltCpuGet (void) |
| float | voltMotorGet (void) |
| static int | voltPackageProcess (unsigned char *inbuf, unsigned char *voltCPU, unsigned char *voltMotor) |
| static int | Write_Pkg (int fd, unsigned char *outbuf) |
| int | ws (unsigned char t_ws, unsigned char s_ws, unsigned char r_ws, unsigned char timeout) |
| int | zr () |
Variables |
| static unsigned char | buf [BUFSIZE] |
| static unsigned char * | bufe |
| static unsigned char * | bufp |
| int | conn_value |
| int | connect_type = 1 |
| char | cvsid_host_client_Ndirect_c [] = "$Header: /home/cvs/host/client/direct.c,v 1.4 1999/11/12 07:28:19 jake Exp $" |
| int | DEFAULT_ROBOT_TCP_PORT = 65001 |
| int | DEFAULT_SERIAL_BAUD = 38400 |
| char * | device |
| static int | errorp = 0 |
| static int | Fd = -1 |
| char | Host_name [255] = "" |
| int | Laser [2 *NUM_LASER+1] |
| double | LASER_CALIBRATION [8] |
| static int | laser_mode = 51 |
| double | LASER_OFFSET [2] = { 0, 0 } |
| int | model |
| static PosDataAll | posDataAll |
| static unsigned long | posDataTime |
| static int | Robot_id = -1 |
| int | SERV_TCP_PORT = -1 |
| char | SERVER_MACHINE_NAME [80] = "" |
| int | Smask [NUM_MASK] |
| static unsigned short | special_answer_size |
| static unsigned char * | special_buffer |
| long | State [NUM_STATE] |
| static int | usedSmask [NUM_MASK] |
| static unsigned char | voltageCPU |
| static unsigned char | voltageMotor |
| static int | wait_time |
