types: Add lift and jaws actuators types to orte.

diff --git a/src/types/robottype.idl b/src/types/robottype.idl
index 768a60cbc4e0f85cea0a126122cec53d4ef34a72..60b6b3f6a2d5ed20dc09627c591a3e063d9b6ece 100644 (file)
--- a/src/types/robottype.idl
+++ b/src/types/robottype.idl
@@ -79,6 +79,14 @@ struct hokuyo_scan {
     unsigned short data[681];
 };
 
+struct pos_short {
+       unsigned short left;
+       unsigned short right;
+};
+
+struct pos_octet {
+       octet left;
+       octet right;
 /** Request for hokuyo pitch (angle) */
 struct hokuyo_pitch {
        /** Hokuyo angle (0..down, 255..up)*/
@@ -86,16 +94,28 @@ struct hokuyo_pitch {
 };
 
 // Actuators
-struct vidle_cmd {
+struct jaws_cmd {
+       pos_short req_pos;
+       pos_octet speed;
+};
+
+struct lift_cmd {
        unsigned short req_pos;
        octet speed;
 };
 
+
 /** Status sent from actuators */
-struct vidle_status {
+struct jaws_status {
+       pos_short act_pos;
+       pos_short response;
+       pos_octet flags;
+};
+
+struct lift_status {
        unsigned short act_pos;
        unsigned short response; // Equals to req_pos when the move is done
-       octet flags;             // Zero when everything OK, otherwise see CAN_VIDLE_FLAG_*
+       octet flags;             // Zero when everything OK, otherwise see CAN_VIDLE_FLAG_*
 };
 
 // FIXME: What's this??? M.S.

diff --git a/src/types/robottype.ortegen b/src/types/robottype.ortegen
index 201bc42477f01d513c01bc37bc49136ecacc7e47..e025ec827e8a6a7668d78b951cebef0b2e8bf497 100644 (file)
--- a/src/types/robottype.ortegen
+++ b/src/types/robottype.ortegen
@@ -1,7 +1,9 @@
 /* Definition of ORTE variables - input for roboortegen.pl */
 
-type=vidle_status      topic=vidle_status   deadline=0.5
-type=vidle_cmd         topic=vidle_cmd
+type=jaws_status       topic=jaws_status       deadline=0.5
+type=jaws_cmd          topic=jaws_cmd
+type=lift_status       topic=lift_status       deadline=0.5
+type=lift_cmd          topic=lift_cmd
 type=binary_data       topic=binary_data
 type=can_msg           topic=can_msg
 type=robot_pos         topic=est_pos_odo