/* *  Stage : a multi-robot simulator. *  Copyright (C) 2001, 2002 Richard Vaughan, Andrew Howard and Brian Gerkey. * *  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 * *//* * Desc: Shared types, constants, etc * Author: Andrew Howard, Richard Vaughan * Date: 12 Mar 2001 * CVS: $Id: stage_types.hh,v 1.9.2.1 2002/12/10 00:28:18 rtv Exp $ */#ifndef STAGE_TYPES_HH#define STAGE_TYPES_HH#if HAVE_CONFIG_H#  include <config.h>#endif#include <stddef.h>#include <assert.h>#include <math.h>// get player's message structures#include "player.h" ///////////////////////////////////////////////////////////////////////////// CONSTANTS - please don't use #defines here!// this is the default port bound by Stage's serverconst int DEFAULT_POSE_PORT = 6601;// we usually use 1 or 2, so this should be plenty// TODO - make this dynamicconst int MAX_POSE_CONNECTIONS = 100; // this is the root filename for stage devices// this is appended with the user name and instance number// so in practice you get something like /tmp/stageIO.vaughan.0// currently only the zero instance is supported// this line causes the compiler to complain about multiple// definitions of IOFILENAME. why? - rtv // const char* IOFILENAME = "/tmp/stageIO";// i'll stick to the macro...#define IOFILENAME "/tmp/stageIO"// the max size of an entity's worldfile tokenconst size_t STAGE_TOKEN_MAX = 48;const size_t STAGE_WORLD_FILENAME_MAX = 512;///////////////////////////////////////////////////////////////////////////// Global variables// raising this causes Stage to exit the main loop and die nicely// exception throwing would be better style...extern bool quit;///////////////////////////////////////////////////////////////////////////// Useful stage types// ENTITY TYPE DEFINITIONS /////////////////////////////////////////////////////////// a unique id for each entity equal to its position in the world's arraytypedef int stage_id_t;// Color typetypedef uint32_t StageColor;/* StageType is deprecated and has been removed */// these properties can be set with the SetProperty() methodconst int ENTITY_FIRST_PROPERTY = 1;enum EntityProperty{  PropParent = ENTITY_FIRST_PROPERTY,   PropSizeX,   PropSizeY,   PropPoseX,   PropPoseY,   PropPoseTh,   PropOriginX,   PropOriginY,   PropName,  PropColor,   PropShape,   PropLaserReturn,  PropSonarReturn,  PropIdarReturn,   PropObstacleReturn,   PropVisionReturn,   PropPuckReturn,  PropPlayerId,  PropPlayerSubscriptions,  PropCommand,  PropData,  PropConfig,  PropReply,  ENTITY_LAST_PROPERTY // this must be the final property - we use it // as a count of the number of properties.};// (currently) static memory allocation for getting and setting properties//const int MAX_NUM_PROPERTIES = 30;const int MAX_PROPERTY_DATA_LEN = 20000;class CEntity;class CWorld;class LibraryItem;// pointer to a function that returns a new  entity// given a world and a parenttypedef CEntity*(*CreatorFunctionPtr)( LibraryItem *libit, CWorld *world, CEntity *parent );typedef struct libitem{  const char* token;  //StageType type;  const char* colorstr;  CreatorFunctionPtr fp;} libitem_t;// PROPERTY DEFINITIONS ///////////////////////////////////////////////// Shapes for entitiesenum StageShape{  ShapeNone = 0,  ShapeCircle,  ShapeRect};// Possible laser return valuesenum LaserReturn{  LaserTransparent = 0,  LaserVisible,   LaserBright,};// Possible IDAR return valuesenum IDARReturn{  IDARTransparent=0,  IDARReflect,  IDARReceive};// Possible Gripper return valuesenum GripperReturn{  GripperDisabled = 0,  GripperEnabled};// any integer value other than this is a valid fiducial IDconst int FiducialNone = 0;// image types ////////////////////////////////////////////////////////unsigned int RGB( int r, int g, int b );typedef struct Point{  int x, y;};typedef struct Rect{  int toplx, toply, toprx, topry, botlx, botly, botrx, botry;};///////////////////////////////////////////////////////////////////////////// Some useful macros// Determine size of array#ifndef ARRAYSIZE#define ARRAYSIZE(x) (int) (sizeof(x) / sizeof(x[0]))#endif// size of char arrays for hostnames#define HOSTNAME_SIZE 256#define MILLION 1000000L#ifndef M_PI#define M_PI        3.14159265358979323846#endif#ifndef TWOPI#define TWOPI 2 * M_PI#endif#define STAGE_SYNC 0#define STAGE_ASYNC 1// Convert radians to degrees#define RTOD(r) ((r) * 180 / M_PI)// Convert degrees to radians#define DTOR(d) ((d) * M_PI / 180)// Normalize angle to domain -pi, pi#define NORMALIZE(z) atan2(sin(z), cos(z))#define ASSERT(m) assert(m)// Error macros#define PRINT_ERR(m)         printf("\nstage error : %s : "m"\n", \                                    __FILE__)#define PRINT_ERR1(m, a)     printf("\nstage error : %s : "m"\n", \                                    __FILE__, a)#define PRINT_ERR2(m, a, b)  printf("\nstage error : %s : "m"\n", \                                    __FILE__, a, b)// Warning macros#define PRINT_WARN(m)         printf("\nstage warning : %s %s "m"\n", \                                     __FILE__, __FUNCTION__)#define PRINT_WARN1(m, a)     printf("\nstage warning : %s %s "m"\n", \                                     __FILE__, __FUNCTION__, a)#define PRINT_WARN2(m, a, b)  printf("\nstage warning : %s %s "m"\n", \                                     __FILE__, __FUNCTION__, a, b)#define PRINT_WARN3(m, a, b, c) printf("\nstage warning : %s %s "m"\n", \                                     __FILE__, __FUNCTION__, a, b, c)// Message macros#define PRINT_MSG(m) printf("stage msg : %s :\n  "m"\n", __FILE__)#define PRINT_MSG1(m, a) printf("stage msg : %s :\n  "m"\n", __FILE__, a)#define PRINT_MSG2(m, a, b) printf("stage msg : %s :\n  "m"\n", __FILE__, a, b)// DEBUG macros#ifdef DEBUG#define PRINT_DEBUG(m)         printf("\rstage debug : %s %s\n  "m"\n", \                                     __FILE__, __FUNCTION__)#define PRINT_DEBUG1(m, a)     printf("\rstage debug : %s %s\n  "m"\n", \                                     __FILE__, __FUNCTION__, a)#define PRINT_DEBUG2(m, a, b)  printf("\rstage debug : %s %s\n  "m"\n", \                                     __FILE__, __FUNCTION__, a, b)#define PRINT_DEBUG3(m, a, b, c) printf("\rstage debug : %s %s\n  "m"\n", \                                     __FILE__, __FUNCTION__, a, b, c)#define PRINT_DEBUG4(m, a, b, c, d) printf("\rstage debug : %s %s\n  "m"\n", \                                     __FILE__, __FUNCTION__, a, b, c, d)#else#define PRINT_DEBUG(m)#define PRINT_DEBUG1(m, a)#define PRINT_DEBUG2(m, a, b)#define PRINT_DEBUG3(m, a, b, c)#define PRINT_DEBUG4(m, a, b, c, d)#endif// these are lifted from ahoward's rtk2 library code// Append an item to a linked list#define STAGE_LIST_APPEND(head, item) \item->prev = head;\item->next = NULL;\if (head == NULL)\    head = item;\else\{\    while (item->prev->next)\       item->prev = item->prev->next;\    item->prev->next = item;\}// Remove an item from a linked list#define STAGE_LIST_REMOVE(head, item) \if (item->prev)\    item->prev->next = item->next;\if (item->next)\    item->next->prev = item->prev;\if (item == head)\    head = item->next;#endif