/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN 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. * * CARMEN 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 CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#include <carmen/carmen.h>#include <carmen/segway_messages.h>voidcarmen_segway_subscribe_pose_message(carmen_segway_pose_message *pose,				     carmen_handler_t handler,				     carmen_subscribe_t subscribe_how){  carmen_subscribe_message(CARMEN_SEGWAY_POSE_NAME,                            CARMEN_SEGWAY_POSE_FMT,                           pose, sizeof(carmen_segway_pose_message), 			   handler, subscribe_how);}voidcarmen_segway_unsubscribe_pose_message(carmen_handler_t handler){  carmen_unsubscribe_message(CARMEN_SEGWAY_POSE_NAME, handler);}voidcarmen_segway_subscribe_battery_message(carmen_segway_battery_message *battery,					carmen_handler_t handler,					carmen_subscribe_t subscribe_how){  carmen_subscribe_message(CARMEN_SEGWAY_BATTERY_NAME,                            CARMEN_SEGWAY_BATTERY_FMT,                           battery, sizeof(carmen_segway_battery_message), 			   handler, subscribe_how);}voidcarmen_segway_unsubscribe_battery_message(carmen_handler_t handler){  carmen_unsubscribe_message(CARMEN_SEGWAY_BATTERY_NAME, handler);}void carmen_segway_kill_command(void){  IPC_RETURN_TYPE err;  static int first = 1;    if(first) {    err = IPC_defineMsg(CARMEN_SEGWAY_KILL_NAME, IPC_VARIABLE_LENGTH,                         CARMEN_SEGWAY_KILL_FMT);    carmen_test_ipc_exit(err, "Could not define message",                          CARMEN_SEGWAY_KILL_NAME);    first = 0;  }  err = IPC_publishData(CARMEN_SEGWAY_KILL_NAME, NULL);  carmen_test_ipc(err, "Could not publish", CARMEN_SEGWAY_KILL_NAME);}