/********************************************************* * * 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/Nclient.h * * Nomadic client library * Public declarations * *                             ** COPYRIGHT NOTICE ** * * Copyright (c) 1996, Nomadic Technologies, Inc. * * The contents of this  file is copyrighted by  Nomadic Technologies, * Inc, and is protected by United States copyright laws. You may make * as  many copies   of  the software   as  deemed  necessary  for the * effective programming of the Nomad  series robots provided that all * copyright and other proprietary   notices are reproduced  in  their * entirety. * */#ifndef _N_INCLUDE_CLIENT_H_#define _N_INCLUDE_CLIENT_H_#include <limits.h>/* --- Symbols ------------------------------------------------------------- *//* General */#define N_IGNORE                                Nan#ifndef BOOL#define BOOL unsigned char#endif#ifndef FALSE#define FALSE ((BOOL)0)#endif#ifndef TRUE#define TRUE  (!FALSE)#endif#define N_MAX_HOSTNAME_LENGTH   80/* Measurement types for 'Unit' */#define N_MILLIMETERS   'm'#define N_SIXTEENTHS    'x'/* Error codes for user functions. */#define N_NO_ERROR                       0#define N_UNKNOWN_ERROR                 -1#define N_MISSING_ARGUMENT              -2#define N_INVALID_ARGUMENT              -3#define N_COMMAND_NOT_FOUND             -4#define N_ROBOT_NOT_FOUND               -5#define N_CONNECTION_FAILED             -6#define N_ABNORMAL_ROBOT_POSITION       -7#define N_TIMEOUT_ERROR                 -8#define N_WRONG_OS_ERROR                -9#define N_AXES_NOT_READY                -10#define N_OUT_OF_MEMORY                 -11#define N_UNSUPPORTED                   -12#define N_SENSOR_NOT_READY              -13#define N_DEVICE_NOT_FOUND              -14#define N_UNINITIALIZED                 -15#define CONNECTION_EXISTS                -16/* Robot types, used in the RobotType field of the N_RobotState structure. */#define N_INVALID_ROBOT_TYPE    '?'#define N_N200_ROBOT_TYPE       'n'#define N_XR4000_ROBOT_TYPE     'x'/* --- Axes --- *//* N_AxisSet.Status bit masks. */#define N_AXES_READY         0#define N_ESTOP_DOWN         1#define N_JOYSTICK_IN_USE    2#define N_MOTION_ERROR       4/* Array bound for the Axis array field of the N_AxisSet structure. */#define N_MAX_AXIS_COUNT     4/* Indices into the Axis array field of the N_AxesSet structure for * XR4000 series robots. */#define N_XTRANSLATION       0#define N_YTRANSLATION       1#define N_ROTATION           2/* Axis modes. */#define N_AXIS_NONE                  0#define N_AXIS_ACCELERATION          1#define N_AXIS_POSITION_RELATIVE     2#define N_AXIS_POSITION_ABSOLUTE     3#define N_AXIS_VELOCITY              4#define N_AXIS_STOP                  5/* --- Sonars --- *//* Array bound for the SonarSet array field of the N_SonarController * structure. */#define N_MAX_SONAR_SET_COUNT     6/* Array bound for the Sonar array field of the N_SonarSet structure. */#define N_MAX_SONAR_COUNT         16/* Terminator for sonar set firing orders, used in the FiringOrder array field * of the N_SonarSet structure. */#define N_END_SONAR_FIRING_ORDER  255/* Value which indicates that a sonar timed out */#define N_SONAR_TIMEOUT           LONG_MAX/* --- Infrareds --- *//* Array bound for the InfraredSet array field of the N_InfraredController * structure */#define N_MAX_INFRARED_SET_COUNT  6/* Array bound for the Infrared array field of the N_InfraredSet structure. */#define N_MAX_INFRARED_COUNT      16/* Terminator for infrared set firing orders, used in the FiringOrder array * field of the N_InfraredSet structure. */#define N_END_INFRARED_FIRING_ORDER     255/* --- Bumpers --- *//* Array bound for the BumperSet array field of the N_BumperController * structure. */#define N_MAX_BUMPER_SET_COUNT    6/* Array bound for the Bumper array field of the N_BumperSet structure. */#define N_MAX_BUMPER_COUNT        12/* Possible bumper states, used in the Reading field of the N_Bumper * strucutre. */#define N_BUMPER_NONE 0x0#define N_BUMPER_LOW  0x1#define N_BUMPER_HIGH 0x2/* --- Batteries --- *//* Array bound on the Battery field of the N_BatterySet structure. */#define N_MAX_BATTERY_COUNT       4/* Fields declared N_CONST are not meant to be modified by clients of this * API and will never be changed once initialized by N_ConnectRobot().  Do * not modify this definition. */#ifndef N_CONST#ifdef __cplusplus#define N_CONST#else#define N_CONST #endif#endif/* --- Data structures ----------------------------------------------------- *//* --- Integrated configuration --- */struct N_Integrator{  BOOL DataActive;  BOOL TimeStampActive;  long x;  long y;  long Steering;  long Rotation;  unsigned long TimeStamp;};/* --- Axes --- */struct N_Axis {  BOOL DataActive;       /* Set to FALSE to make N_GetAxes ignore this axis. */  BOOL TimeStampActive;  /* Set to TRUE to get time stamps with the data. */  BOOL Update;           /* Set to TRUE to send this axis to the robot. */  unsigned long TimeStamp;  /* the Mode parameter describes how the settable parameters should be   * interpreted when N_SetAxes is called, and is not retrieved by   * N_GetAxes */  char Mode;  /* settable/retrievable parameters */  long DesiredPosition;            /* Ignored for velocity moves. */  long DesiredSpeed;               /* Scalar, greater than zero. */  long Acceleration;               /* Scalar, greater than zero. */  /* retrievable parameters */  long TrajectoryPosition;         /* Instantaneous goal position. */  long TrajectoryVelocity;         /* Instantaneous goal velocity. */  long ActualPosition;             /* Current position. */  long ActualVelocity;             /* Current velocity. */  BOOL InProgress;                 /* FALSE if no move is being executed. */};struct N_AxisSet{  /* The global flag determines if the XR4000's X and Y axis use the global   * reference frame (the x axis and y axis are determined by the robot's   * orientation when it was zeroed), or the local reference frame (where   * the y axis always points in the same direction as the front of the   * robot).  This flag does not affect the IntegratedConfiguration   * values.  Global mode is only supported by the XR4000. */  BOOL Global;  /* The status field can be used to check for unusual conditions in the   * motor controller (e.g. e-stop down or joystick in use). */  unsigned char Status;  N_CONST unsigned int AxisCount;  struct N_Axis Axis[N_MAX_AXIS_COUNT];};/* --- Joystick --- */struct N_Joystick{  double X;  double Y;  double Theta;  BOOL   ButtonA;  BOOL   ButtonB;  BOOL   ButtonC;};/* --- Sonars ---- */struct N_Sonar{  long Reading;  unsigned long TimeStamp;};struct N_SonarSet{  unsigned int FiringOrder[N_MAX_SONAR_COUNT + 1];  long FiringDelay;  long BlankingInterval;  BOOL DataActive;  BOOL TimeStampActive;  N_CONST unsigned int SonarCount;  struct N_Sonar Sonar[N_MAX_SONAR_COUNT];};struct N_SonarController{  N_CONST unsigned int SonarSetCount;  struct N_SonarSet SonarSet[N_MAX_SONAR_SET_COUNT];  BOOL SonarPaused;};/* --- Infrareds --- */struct N_Infrared{  long Reading;  unsigned long TimeStamp;};struct N_InfraredSet{  BOOL DataActive;  BOOL TimeStampActive;  N_CONST unsigned int InfraredCount;  struct N_Infrared Infrared[N_MAX_INFRARED_COUNT];};struct N_InfraredController     {  BOOL InfraredPaused;  N_CONST unsigned int InfraredSetCount;  struct N_InfraredSet InfraredSet[N_MAX_INFRARED_SET_COUNT];};/* --- Bumpers --- */struct N_Bumper{  char Reading;  unsigned long TimeStamp;};struct N_BumperSet{  BOOL DataActive;  BOOL TimeStampActive;  N_CONST unsigned int BumperCount;  struct N_Bumper Bumper[N_MAX_BUMPER_COUNT];};struct N_BumperController{  N_CONST unsigned int BumperSetCount;  struct N_BumperSet BumperSet[N_MAX_BUMPER_SET_COUNT];};/* --- Batteries --- */struct N_Battery{  long Voltage;};struct N_BatterySet{  N_CONST unsigned int BatteryCount;  struct N_Battery Battery[N_MAX_BATTERY_COUNT];  BOOL DataActive;};/* --- Timers --- */struct N_Timer{  long Timeout;         /* Limp timeout value in msec. */  unsigned long Time;   /* Current timestamp in msec. */};/* --- The main state structure -------------------------------------------- */struct N_RobotState{  N_CONST long RobotID;  N_CONST char RobotType;  struct N_Integrator Integrator;  struct N_AxisSet AxisSet;  struct N_Joystick Joystick;  struct N_SonarController SonarController;  struct N_InfraredController InfraredController;  struct N_BumperController BumperController;   struct N_BatterySet BatterySet;   struct N_Timer Timer;};typedef void (*N_ErrorFunc)(long RobotID);/* --- User functions ------------------------------------------------------ */#ifdef __cplusplusextern "C"{#endif/* Initialize the client library. */int N_InitializeClient(const char *scheduler_hostname,		       unsigned short scheduler_socket);/* Connect and disconnect from a robot. */int N_ConnectRobot(long RobotID);int N_DisconnectRobot(long RobotID);/* Retrieve a pointer to a robot's state structure. */struct N_RobotState *N_GetRobotState(long RobotID);/* Move the robot and retrieve axis configurations. */int N_SetAxes(long RobotID);int N_GetAxes(long RobotID);/* Move the lift and retrieve lift axis configurations. */int N_SetLift(long RobotID);int N_GetLift(long RobotID);int N_DeployLift(long RobotID);int N_RetractLift(long RobotID);int N_ZeroLift(long RobotID, BOOL Force);/* Move the robot as though it were being controlled by a joystick. */int N_SetJoystick(long RobotID);/* Set and retrieve the current axis limp timeout value. */int N_SetTimer(long RobotID);int N_GetTimer(long RobotID);/* Configure sonars and retrieve the current configuration; retrieve the * latest sonar readings. */int N_SetSonarConfiguration(long RobotID);int N_GetSonarConfiguration(long RobotID);int N_GetSonar(long RobotID);/* Configure infrareds and retrieve the current configuration; retrieve the * latest infrared readings. */int N_SetInfraredConfiguration(long RobotID);int N_GetInfraredConfiguration(long RobotID);int N_GetInfrared(long RobotID);/* Retrieve the latest bumper readings. */int N_GetBumper(long RobotID);/* Retrieve the latest battery state. */int N_GetBattery(long RobotID);/* Set and retrieve the current integrator values. */int N_SetIntegratedConfiguration(long RobotID);int N_GetIntegratedConfiguration(long RobotID);/* Get all "DataActive" sensor readings at once. */int N_GetState(long RobotID);/* Send a text string to the speech system. */int N_Speak(long RobotID, const char *Text);#ifdef __cplusplus}#endif#endif /* _N_INCLUDE_CLIENT_H_ */