#include <stdint.h>
#include <stdio.h>
#include <trgenconstr.h>
#include <robottype.h>
#include <roboorte_robottype.h>
#include <robodim.h>
#include <roboevent.h>
#include <fsm.h>
#include <robot_config.h>

Include dependency graph for robot.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	robot
Defines
#define	ROBOT_FSM_MAIN main
	FSM.
#define	ROBOT_FSM_MOTION motion
#define	ROBOT_FSM_DISPLAY display
#define	ROBOT_FSM_ACT act
#define	FSM_GET_BY_ID(fsm_id) (&robot.fsm.ROBOT_FSM_##fsm_id)
#define	__LOCK_CHECK(mutex)
	LOCKING MANIPULATION.
#define	__UNLOCK_CHECK(mutex)
#define	ROBOT_LOCK(var)
	Locks the robot structure.
#define	ROBOT_UNLOCK(var)
	Unlocks the robot structure.
#define	__robot_lock_ref_pos lock_ref_pos
#define	__robot_lock_est_pos_odo lock_est_pos_odo
#define	__robot_lock_est_pos_indep_odo lock_est_pos_indep_odo
#define	__robot_lock_joy_data lock_joy_data
#define	__robot_lock_meas_angles lock_meas_angles
#define	__robot_lock_drives lock
#define	__robot_lock_sharps lock
#define	__robot_lock_hokuyo lock
#define	__robot_lock_cmu lock
#define	__robot_lock_bumper lock
#define	__robot_lock_disp lock_disp
#define	__robot_lock_motion_irc lock
#define	__robot_lock_odo_data lock
#define	__robot_lock_corr_distances lock
#define	__robot_lock_camera_result lock_camera
#define	THREAD_PRIO_TRAJ_FOLLOWER 90
#define	THREAD_PRIO_TRAJ_RECLAC 18
#define	OBST_FORGETING_PRIO 17
Enumerations
enum	team_color { RED = 0, BLUE }
	robot.h 08/04/20 More...
enum	robot_start_state { POWER_ON = 0, START_PLUGGED_IN, COMPETITION_STARTED }
enum	robot_status { STATUS_OK, STATUS_WARNING, STATUS_FAILED }
enum	robot_component { COMPONENT_MOTOR, COMPONENT_ODOMETRY, COMPONENT_CAMERA, COMPONENT_POWER, COMPONENT_HOKUYO, COMPONENT_START, COMPONENT_JAWS, COMPONENT_LIFT, ROBOT_COMPONENT_NUMBER }
Functions
int	robot_init () __attribute__((warn_unused_result))
	Initializes the robot.
int	robot_start () __attribute__((warn_unused_result))
	Starts the robot FSMs and threads.
void	robot_exit ()
	Signals all the robot threads to finish.
void	robot_destroy ()
	Stops the robot.
void	robot_get_est_pos_trans (double x, double y, double *phi)
void	robot_get_est_pos (double x, double y, double *phi)
void	serial_comm (int status)
	FSM_STATE_FULL_DECL (main, init)
	FSM_STATE_FULL_DECL (motion, init)
	FSM_STATE_FULL_DECL (disp, init)
	FSM_STATE_FULL_DECL (act, wait_for_command)
Variables
struct robot	robot

Define Documentation

#define __LOCK_CHECK ( mutex )

LOCKING MANIPULATION.

#define __robot_lock_bumper lock

#define __robot_lock_camera_result lock_camera

#define __robot_lock_cmu lock

#define __robot_lock_corr_distances lock

#define __robot_lock_disp lock_disp

#define __robot_lock_drives lock

#define __robot_lock_est_pos_indep_odo lock_est_pos_indep_odo

#define __robot_lock_est_pos_odo lock_est_pos_odo

#define __robot_lock_hokuyo lock

#define __robot_lock_joy_data lock_joy_data

#define __robot_lock_meas_angles lock_meas_angles

#define __robot_lock_motion_irc lock

#define __robot_lock_odo_data lock

#define __robot_lock_ref_pos lock_ref_pos

#define __robot_lock_sharps lock

#define __UNLOCK_CHECK ( mutex )

#define FSM_GET_BY_ID ( fsm_id ) (&robot.fsm.ROBOT_FSM_##fsm_id)

#define OBST_FORGETING_PRIO 17

#define ROBOT_FSM_ACT act

#define ROBOT_FSM_DISPLAY display

#define ROBOT_FSM_MAIN main

FSM.

#define ROBOT_FSM_MOTION motion

#define ROBOT_LOCK ( var )

Value:

do {                                                     \
                pthread_mutex_lock(&robot.__robot_lock_##var);   \
                __LOCK_CHECK(&robot.__robot_lock_##var);         \
        } while(0)

Locks the robot structure.

Parameters:

var

Field in the structure you are going to work with.

#define ROBOT_UNLOCK ( var )

Value:

do {                                                            \
                __UNLOCK_CHECK(&robot.__robot_lock_##var);              \
                pthread_mutex_unlock(&robot.__robot_lock_##var);        \
        } while(0)

Unlocks the robot structure.

Parameters:

var

Field in the structure, which was locked by ROBOT_LOCK.

#define THREAD_PRIO_TRAJ_FOLLOWER 90

#define THREAD_PRIO_TRAJ_RECLAC 18

Enumeration Type Documentation

enum robot_component

Enumerator:

COMPONENT_MOTOR
COMPONENT_ODOMETRY
COMPONENT_CAMERA
COMPONENT_POWER
COMPONENT_HOKUYO
COMPONENT_START
COMPONENT_JAWS
COMPONENT_LIFT
ROBOT_COMPONENT_NUMBER