/********************************************************* * * 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 * ********************************************************/#ifndef __INC_arcnet_h#define __INC_arcnet_h#ifdef __cplusplusextern "C" {#endiftypedef short unsigned int ArgContent;typedef struct  {  unsigned short length;  unsigned char argNumber;  unsigned char argNumberRef;  unsigned char *argData;    } ArgBlock;typedef struct {  ArgBlock *(*procedure)();  char *description;} TableEntry;extern TableEntry RPC_Table[];extern TableEntry IRPC_Table[];extern unsigned char d51_params[26];extern unsigned char d51_net_map[32];void *RPC_GetArg(unsigned char *error, short unsigned int expContent, 		 ArgContent *content, 		 unsigned char argNum, ArgBlock *args);void RPC_PutArg(short unsigned int argType, short unsigned int dataLength, 		char *data, ArgBlock *args);unsigned char MAC_NoResponse();unsigned char smc_in(unsigned char reg);int ANET_Initialize();void ANET_Poll();void ANET_ConfSonar();#ifdef __cplusplus}#endif#endif /* __INC_arcnet_h */