p2os/sip.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
*
*
* 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
*
*/
/*
* $Id: sip.h 6374 2008-04-23 05:17:52Z gbiggs $
*
* part of the P2OS parser. methods for filling and parsing server
* information packets (SIPs)
*/
#ifndef _SIP_H
#define _SIP_H
#include <limits.h>
#include "p2os.h"
typedef struct ArmJoint
{
char speed;
unsigned char home;
unsigned char min;
unsigned char centre;
unsigned char max;
unsigned char ticksPer90;
} ArmJoint;
class SIP
{
private:
int PositionChange( unsigned short, unsigned short );
int param_idx; // index of our robot's data in the parameter table
public:
// these values are returned in every standard SIP
bool lwstall, rwstall;
unsigned char status, battery, sonarreadings, analog, digin, digout;
unsigned short ptu, compass, timer, rawxpos;
unsigned short rawypos, frontbumpers, rearbumpers;
short angle, lvel, rvel, control;
unsigned short *sonars;
int xpos, ypos;
int x_offset,y_offset,angle_offset;
// these values are returned in a CMUcam serial string extended SIP
// (in host byte-order)
unsigned short blobmx, blobmy; // Centroid
unsigned short blobx1, blobx2, bloby1, bloby2; // Bounding box
unsigned short blobarea, blobconf; // Area and confidence
unsigned int blobcolor;
// This value is filled by ParseGyro()
int32_t gyro_rate;
// This information comes from the ARMpac and ARMINFOpac packets
bool armPowerOn, armConnected;
bool armJointMoving[6];
unsigned char armJointPos[6];
double armJointPosRads[6];
unsigned char armJointTargetPos[6];
char *armVersionString;
unsigned char armNumJoints;
ArmJoint *armJoints;
// Need this value to calculate approx position of lift when in between up and down
double lastLiftPos;
//Timestamping SIP packets
//double timeStandardSIP, timeGyro, timeSERAUX, timeArm;
/* returns 0 if Parsed correctly otherwise 1 */
void ParseStandard( unsigned char *buffer );
void ParseSERAUX( unsigned char *buffer );
void ParseGyro(unsigned char* buffer);
void ParseArm (unsigned char *buffer);
void ParseArmInfo (unsigned char *buffer);
void Print();
void PrintSonars();
void PrintArm ();
void PrintArmInfo ();
void FillStandard(player_p2os_data_t* data);
void FillSERAUX(player_p2os_data_t* data);
void FillGyro(player_p2os_data_t* data);
void FillArm(player_p2os_data_t* data);
SIP(int idx)
{
param_idx = idx;
sonarreadings = 0;
sonars = NULL;
xpos = INT_MAX;
ypos = INT_MAX;
// intialise some of the internal values
blobmx = blobmy = blobx1 = blobx2 = bloby1 = bloby2 = blobarea = blobconf = blobcolor = 0;
armPowerOn = armConnected = false;
armVersionString = NULL;
armJoints = NULL;
armNumJoints = 0;
for (int i = 0; i < 6; ++i)
{
armJointMoving[i] = false;
armJointPos[i] = 0;
armJointPosRads[i] = 0;
armJointTargetPos[i] = 0;
}
}
~SIP(void)
{
delete[] sonars;
}
};
#endif
SIP::ParseSERAUX
void ParseSERAUX(unsigned char *buffer)
Parse a SERAUX SIP packet.
Definition: p2os/sip.cc:488
SIP
Definition: p2os/sip.h:46
ArmJoint
Definition: p2os/sip.h:36

Last updated 12 September 2005 21:38:45