/********************************************************* * * 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 TRUE#define TRUE  1#endif#ifndef FALSE#define FALSE 0#endif#define MAX_NAME_LENGTH                256#define MAX_COMMAND_LENGTH             256#define MAX_ACMD_SIZE                   48#define MAX_NUM_LOOPS                   30#define MAX_BUFFER_LENGTH             4096#define MAX_NUM_SONARS                 256#define EPSILON                     0.0001#define TIMEOUT                         -1#define WRONG                            0#define OK                               1#define B_STX                         0x02#define B_ETX                         0x03#define B_ESC                         0x1b#define STD_TRANS_TORQUE    30000#define STD_ROT_ACC         100000#define STD_ROT_TORQUE      35000#define SYS_PORT                 1#define MOT_PORT                 2#define JSTK_PORT                3#define SONAR_PORT               4#define DIO_PORT                 5#define IR_PORT                  6#define SYS_LCD_DUMP             0#define SYS_STATUS               1#define MOT_AXIS_GET_SYSTEM      0#define MOT_AXIS_GET_MODEL       1#define MOT_AXIS_GET_TARGET      2#define MOT_AXIS_SET_LIMITS      3#define MOT_AXIS_GET_LIMITS      4#define MOT_AXIS_SET_POS_LIMITS  5#define MOT_AXIS_GET_POS_LIMITS  6#define MOT_AXIS_SET_DIR         7#define MOT_AXIS_SET_POS         8#define MOT_AXIS_GET_MODE        9#define MOT_SET_DEFAULTS        10#define MOT_BRAKE_SET           11#define MOT_BRAKE_RELEASE       12#define MOT_SYSTEM_REPORT       33#define MOT_SYSTEM_REPORT_REQ   34#define MOT_GET_NAXES           65#define MOT_SET_GEARING         66#define MOT_GET_GEARING         67#define MOT_MOTOR_SET_MODE      68#define MOT_MOTOR_GET_MODE      69#define MOT_MOTOR_SET_PARMS     70#define MOT_MOTOR_GET_PARMS     71#define MOT_MOTOR_SET_LIMITS    72#define MOT_MOTOR_GET_LIMITS    73#define MOT_MOTOR_GET_DATA      74#define MOT_AXIS_SET_PARMS      75#define MOT_AXIS_GET_PARMS      76#define MOT_AXIS_SET_PWM_LIMIT  77#define MOT_AXIS_GET_PWM_LIMIT  78#define MOT_AXIS_SET_PWM        79#define MOT_AXIS_GET_PWM        80#define SONAR_RUN                0#define SONAR_GET_UPDATE         1#define SONAR_REPORT             2#define DIO_REPORTS_REQ          0#define DIO_REPORT               1#define DIO_GET_UPDATE           2#define DIO_UPDATE               3#define DIO_SET                  4#define IR_RUN                   0#define IR_REPORT                1enum PARITY_TYPE   { N, E, O };typedef struct {  char                       ttyport[MAX_NAME_LENGTH];  int                        baud;  enum PARITY_TYPE           parity;  int                        fd;  int                        databits;  int                        stopbits;  int                        hwf;  int                        swf;} Device;