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_HOKUYO_SCAN,
  38         QEV_VIDLE_CMD,
  39 };
  40
  41 class OrteCallbackInfo {
  42 public:
  43         QObject *receiver;
  44         enum robomon_qev qev;
  45
  46 OrteCallbackInfo(QObject *areceiver, enum robomon_qev aqev) :
  47                 receiver(areceiver), qev(aqev) {};
  48 };
  49
  50
  51 #define FRONT_DOOR              1
  52 #define INNER_DOOR              4
  53 #define BACK_DOOR               0
  54 #define FRONT_LAUNCH            5
  55 #define TRANSPORTER_FRONT       2
  56 #define TRANSPORTER_INNER       3
  57
  58 #define FRONT_DOOR_UP           20
  59 #define FRONT_DOOR_DOWN         251
  60 #define INNER_DOOR_UP           255
  61 #define INNER_DOOR_DOWN         1
  62 #define BACK_DOOR_UP            180
  63 #define BACK_DOOR_DOWN          1
  64 #define TOP_DOOR_UP             255
  65 #define TOP_DOOR_DOWN           1
  66 #define TRANSPORTER_OFF         127
  67 #define FRONT_LAUNCH_LOCK       195
  68 #define FRONT_LAUNCH_OPEN       66
  69
  70 #define MOTOR_LIMIT             10000.0
  71
  72 enum {
  73         BOTTLE = 0,
  74         CAN,
  75         UNKNOWN
  76 };
  77
  78 /* callback functions */
  79 /* publishers */
  80 void dummy_publisher_callback(const ORTESendInfo *info,
  81                         void *vinstance, void *arg);
  82 void sendMotorCallBack(const ORTESendInfo *info,
  83                         void *vinstance, void *arg);
  84 void sendSharpLongsCallBack(const ORTESendInfo *info,
  85                         void *vinstance, void *arg);
  86 void sendSharpShortsCallBack(const ORTESendInfo *info,
  87                         void *vinstance, void *arg);
  88 void sendPowerControlCallBack(const ORTESendInfo *info,
  89                         void *vinstance, void *arg);
  90 /* subscribers */
  91 void receiveMotionStatusCallBack(const ORTERecvInfo *info,
  92                         void *vinstance, void *arg);
  93 void receiveActualPositionCallBack(const ORTERecvInfo *info,
  94                         void *vinstance, void *arg);
  95 void receiveEstimatedPositionCallBack(const ORTERecvInfo *info,
  96                         void *vinstance, void *arg);
  97 void receiveSharpLongsCallBack(const ORTERecvInfo *info,
  98                         void *vinstance, void *arg);
  99 void receiveSharpShortsCallBack(const ORTERecvInfo *info,
 100                         void *vinstance, void *arg);
 101 void receiveSharpsCallBack(const ORTERecvInfo *info,
 102                         void *vinstance, void *arg);
 103 void receiveIRCallBack(const ORTERecvInfo *info,
 104                         void *vinstance, void *arg);
 105 void receiveDICallBack(const ORTERecvInfo *info,
 106                         void *vinstance, void *arg);
 107 void receiveLaserCallBack(const ORTERecvInfo *info,
 108                         void *vinstance, void *arg);
 109 void receiveAccelerometerCallBack(const ORTERecvInfo *info,
 110                         void *vinstance, void *arg);
 111 void receiveAccumulatorCallBack(const ORTERecvInfo *info,
 112                         void *vinstance, void *arg);
 113 void receivePowerVoltageCallBack(const ORTERecvInfo *info,
 114                         void *vinstance, void *arg);
 115 void receiveActuatorStatusCallBack(const ORTERecvInfo *info,
 116                                    void *vinstance, void *arg);
 117 void rcv_motion_irc_cb(const ORTERecvInfo *info,
 118                        void *vinstance, void *arg);
 119 void rcv_fsm_main_cb(const ORTERecvInfo *info,
 120                      void *vinstance, void *arg);
 121 void rcv_fsm_act_cb(const ORTERecvInfo *info,
 122                      void *vinstance, void *arg);
 123 void rcv_fsm_motion_cb(const ORTERecvInfo *info,
 124                      void *vinstance, void *arg);
 125 void generic_rcv_cb(const ORTERecvInfo *info, void *vinstance, void *arg);
 126
 127 #endif /* ROBOMON_ORTE_H */