src/robomon/robomon_orte.h

   1 /*
   2  * robomon_orte.h                       07/10/31
   3  *
   4  * Several functions to manage the ORTE communication.
   5  *
   6  * Copyright: (c) 2007 CTU Dragons
   7  *            CTU FEE - Department of Control Engineering
   8  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
   9  * License: GNU GPL v.2
  10  */
  11
  12 #ifndef ROBOMON_ORTE_H
  13 #define ROBOMON_ORTE_H
  14
  15 #include <orte.h>
  16 #include <robottype.h>
  17 #include <robottype.h>
  18 #include <robottype.h>
  19
  20 /* Helper macro to generate user QEvent types */
  21 #define QEVENT(event) (QEvent::Type)(QEvent::User+(event))
  22
  23 enum robomon_qev {
  24         QEV_MOTION_STATUS = 0,
  25         QEV_MOTION_IRC,
  26         QEV_REFERENCE_POSITION,
  27         QEV_ESTIMATED_POSITION_ODO,
  28         QEV_ESTIMATED_POSITION_INDEP_ODO,
  29         QEV_ESTIMATED_POSITION_BEST,
  30         QEV_SHARP_LONGS,
  31         QEV_SHARP_SHORTS,
  32         QEV_SHARPS,
  33         QEV_POWER_VOLTAGE,
  34         QEV_FSM_MAIN,
  35         QEV_FSM_ACT,
  36         QEV_FSM_MOTION,
  37         QEV_SICK_SCAN,
  38         QEV_HOKUYO_SCAN,
  39         QEV_JAWS_CMD,
  40 };
  41
  42 class OrteCallbackInfo {
  43 public:
  44         QObject *receiver;
  45         enum robomon_qev qev;
  46
  47 OrteCallbackInfo(QObject *areceiver, enum robomon_qev aqev) :
  48                 receiver(areceiver), qev(aqev) {};
  49 };
  50
  51
  52 #define FRONT_DOOR              1
  53 #define INNER_DOOR              4
  54 #define BACK_DOOR               0
  55 #define FRONT_LAUNCH            5
  56 #define TRANSPORTER_FRONT       2
  57 #define TRANSPORTER_INNER       3
  58
  59 #define FRONT_DOOR_UP           20
  60 #define FRONT_DOOR_DOWN         251
  61 #define INNER_DOOR_UP           255
  62 #define INNER_DOOR_DOWN         1
  63 #define BACK_DOOR_UP            180
  64 #define BACK_DOOR_DOWN          1
  65 #define TOP_DOOR_UP             255
  66 #define TOP_DOOR_DOWN           1
  67 #define TRANSPORTER_OFF         127
  68 #define FRONT_LAUNCH_LOCK       195
  69 #define FRONT_LAUNCH_OPEN       66
  70
  71 #define MOTOR_LIMIT             10000.0
  72
  73 enum {
  74         BOTTLE = 0,
  75         CAN,
  76         UNKNOWN
  77 };
  78
  79 /* callback functions */
  80 /* publishers */
  81 void dummy_publisher_callback(const ORTESendInfo *info,
  82                         void *vinstance, void *arg);
  83 void sendMotorCallBack(const ORTESendInfo *info,
  84                         void *vinstance, void *arg);
  85 void sendSharpLongsCallBack(const ORTESendInfo *info,
  86                         void *vinstance, void *arg);
  87 void sendSharpShortsCallBack(const ORTESendInfo *info,
  88                         void *vinstance, void *arg);
  89 void sendPowerControlCallBack(const ORTESendInfo *info,
  90                         void *vinstance, void *arg);
  91 /* subscribers */
  92 void receiveMotionStatusCallBack(const ORTERecvInfo *info,
  93                         void *vinstance, void *arg);
  94 void receiveActualPositionCallBack(const ORTERecvInfo *info,
  95                         void *vinstance, void *arg);
  96 void receiveEstimatedPositionCallBack(const ORTERecvInfo *info,
  97                         void *vinstance, void *arg);
  98 void receiveSharpLongsCallBack(const ORTERecvInfo *info,
  99                         void *vinstance, void *arg);
 100 void receiveSharpShortsCallBack(const ORTERecvInfo *info,
 101                         void *vinstance, void *arg);
 102 void receiveSharpsCallBack(const ORTERecvInfo *info,
 103                         void *vinstance, void *arg);
 104 void receiveIRCallBack(const ORTERecvInfo *info,
 105                         void *vinstance, void *arg);
 106 void receiveDICallBack(const ORTERecvInfo *info,
 107                         void *vinstance, void *arg);
 108 void receiveLaserCallBack(const ORTERecvInfo *info,
 109                         void *vinstance, void *arg);
 110 void receiveAccelerometerCallBack(const ORTERecvInfo *info,
 111                         void *vinstance, void *arg);
 112 void receiveAccumulatorCallBack(const ORTERecvInfo *info,
 113                         void *vinstance, void *arg);
 114 void receivePowerVoltageCallBack(const ORTERecvInfo *info,
 115                         void *vinstance, void *arg);
 116 void receiveActuatorStatusCallBack(const ORTERecvInfo *info,
 117                                    void *vinstance, void *arg);
 118 void rcv_motion_irc_cb(const ORTERecvInfo *info,
 119                        void *vinstance, void *arg);
 120 void rcv_fsm_main_cb(const ORTERecvInfo *info,
 121                      void *vinstance, void *arg);
 122 void rcv_fsm_act_cb(const ORTERecvInfo *info,
 123                      void *vinstance, void *arg);
 124 void rcv_fsm_motion_cb(const ORTERecvInfo *info,
 125                      void *vinstance, void *arg);
 126 void generic_rcv_cb(const ORTERecvInfo *info, void *vinstance, void *arg);
 127
 128 #endif /* ROBOMON_ORTE_H */