Home
FAQ
Player
Stage
Gazebo
Contrib
Documentation
Publications
Contributors
Users

Project
Download
Bugs/Feedback
Mailing lists

Radish

Old news
Old stuff

Main Page | Modules | Namespace List | Class Hierarchy | Alphabetical List | Class List | File List | Class Members | File Members | Related Pages

Nclient.h File Reference

Go to the source code of this file.

Classes

struct  _ConfigData
struct  _PosData
union  double_union
union  long_union
union  short_union
union  ushort_union
union  ulong_union
struct  request_struct
struct  reply_struct

Defines

#define FALSE   0
#define TRUE   1
#define NULL   0
#define MAX_VERTICES   10
#define NUM_STATE   45
#define NUM_MASK   44
#define NUM_LASER   482
#define BUFSIZE   4096
#define MAX_USER_BUF   0xFFFF
#define MODEL_N200   0
#define MODEL_N150   1
#define MODEL_SCOUT   2
#define MODEL_SCOUT2   2
#define SONARS   16
#define INFRAREDS   16
#define STATE_SIM_SPEED   0
#define STATE_IR_0   1
#define STATE_IR_1   2
#define STATE_IR_2   3
#define STATE_IR_3   4
#define STATE_IR_4   5
#define STATE_IR_5   6
#define STATE_IR_6   7
#define STATE_IR_7   8
#define STATE_IR_8   9
#define STATE_IR_9   10
#define STATE_IR_10   11
#define STATE_IR_11   12
#define STATE_IR_12   13
#define STATE_IR_13   14
#define STATE_IR_14   15
#define STATE_IR_15   16
#define STATE_SONAR_0   17
#define STATE_SONAR_1   18
#define STATE_SONAR_2   19
#define STATE_SONAR_3   20
#define STATE_SONAR_4   21
#define STATE_SONAR_5   22
#define STATE_SONAR_6   23
#define STATE_SONAR_7   24
#define STATE_SONAR_8   25
#define STATE_SONAR_9   26
#define STATE_SONAR_10   27
#define STATE_SONAR_11   28
#define STATE_SONAR_12   29
#define STATE_SONAR_13   30
#define STATE_SONAR_14   31
#define STATE_SONAR_15   32
#define STATE_BUMPER   33
#define STATE_CONF_X   34
#define STATE_CONF_Y   35
#define STATE_CONF_STEER   36
#define STATE_CONF_TURRET   37
#define STATE_VEL_TRANS   38
#define STATE_VEL_RIGHT   38 /* for scout */
#define STATE_VEL_STEER   39
#define STATE_VEL_LEFT   39 /* for scout */
#define STATE_VEL_TURRET   40
#define STATE_MOTOR_STATUS   41
#define STATE_LASER   42
#define STATE_COMPASS   43
#define STATE_ERROR   44
#define SMASK_POS_DATA   0
#define SMASK_IR_1   1
#define SMASK_IR_2   2
#define SMASK_IR_3   3
#define SMASK_IR_4   4
#define SMASK_IR_5   5
#define SMASK_IR_6   6
#define SMASK_IR_7   7
#define SMASK_IR_8   8
#define SMASK_IR_9   9
#define SMASK_IR_10   10
#define SMASK_IR_11   11
#define SMASK_IR_12   12
#define SMASK_IR_13   13
#define SMASK_IR_14   14
#define SMASK_IR_15   15
#define SMASK_IR_16   16
#define SMASK_SONAR_1   17
#define SMASK_SONAR_2   18
#define SMASK_SONAR_3   19
#define SMASK_SONAR_4   20
#define SMASK_SONAR_5   21
#define SMASK_SONAR_6   22
#define SMASK_SONAR_7   23
#define SMASK_SONAR_8   24
#define SMASK_SONAR_9   25
#define SMASK_SONAR_10   26
#define SMASK_SONAR_11   27
#define SMASK_SONAR_12   28
#define SMASK_SONAR_13   29
#define SMASK_SONAR_14   30
#define SMASK_SONAR_15   31
#define SMASK_SONAR_16   32
#define SMASK_BUMPER   33
#define SMASK_CONF_X   34
#define SMASK_CONF_Y   35
#define SMASK_CONF_STEER   36
#define SMASK_CONF_TURRET   37
#define SMASK_VEL_TRANS   38
#define SMASK_VEL_STEER   39
#define SMASK_VEL_TURRET   40
#define SMASK_RESERVED   41
#define SMASK_LASER   42
#define SMASK_COMPASS   43
#define MV_IGNORE   0
#define MV_VM   1 /* velocity mode */
#define MV_PR   2 /* position relative mode */
#define MV_LP   3 /* limp mode */
#define MV_AC   4 /* set acceleration for vm, pr, pa modes*/
#define MV_SP   5 /* set velocity for pr, pa modes */
#define MV_PA   6 /* position absolute mode */
#define MV_TQ   7 /* torque mode */
#define MV_MT   8 /* set maximum torque for vm, pr, pa, tq modes */
#define ZR_CHECK   1
#define ZR_ORIENT   2
#define ZR_NO_N_GRIPPER   4
#define ARM_ZR   40
#define ARM_WS   41
#define ARM_MV   42
#define POS_NONE   ( 0 << 0 )
#define POS_INFRARED   ( 1 << 0 )
#define POS_SONAR   ( 1 << 1 )
#define POS_BUMPER   ( 1 << 2 )
#define POS_LASER   ( 1 << 3 )
#define POS_COMPASS   ( 1 << 4 )
#define POS_INFRARED_P   ( ( (posDataCheck()) & POS_INFRARED ) ? 1 : 0 )
#define POS_SONAR_P   ( ( (posDataCheck()) & POS_SONAR ) ? 1 : 0 )
#define POS_BUMPER_P   ( ( (posDataCheck()) & POS_BUMPER ) ? 1 : 0 )
#define POS_LASER_P   ( ( (posDataCheck()) & POS_LASER ) ? 1 : 0 )
#define POS_COMPASS_P   ( ( (posDataCheck()) & POS_COMPASS ) ? 1 : 0 )
#define POS_IR_1   0
#define POS_IR_2   1
#define POS_IR_3   2
#define POS_IR_4   3
#define POS_IR_5   4
#define POS_IR_6   5
#define POS_IR_7   6
#define POS_IR_8   7
#define POS_IR_9   8
#define POS_IR_10   9
#define POS_IR_11   10
#define POS_IR_12   11
#define POS_IR_13   12
#define POS_IR_14   13
#define POS_IR_15   14
#define POS_IR_16   15
#define POS_SONAR_1   0
#define POS_SONAR_2   1
#define POS_SONAR_3   2
#define POS_SONAR_4   3
#define POS_SONAR_5   4
#define POS_SONAR_6   5
#define POS_SONAR_7   6
#define POS_SONAR_8   7
#define POS_SONAR_9   8
#define POS_SONAR_10   9
#define POS_SONAR_11   10
#define POS_SONAR_12   11
#define POS_SONAR_13   12
#define POS_SONAR_14   13
#define POS_SONAR_15   14
#define POS_SONAR_16   15
#define USER_BUFFER_LENGTH   0xFFFF
#define ROTATION_CONSTANT   0.118597 /* inches/degree (known to 100 ppm) */
#define RIGHT(trans, steer)   (trans + (int)((float)steer*ROTATION_CONSTANT))
#define LEFT(trans, steer)   (trans - (int)((float)steer*ROTATION_CONSTANT))
#define scout_vm(trans, steer)   vm(RIGHT(trans, steer), LEFT(trans, steer), 0)

Typedefs

typedef unsigned long TimeData
typedef _ConfigData ConfigData
typedef _PosData PosData

Functions

long arm_mv (long l_mode, long l_v, long g_mode, long g_v)
long arm_ws (short lift, short grip, long timeout, long *time_remain)
long arm_zr (short mode)
int create_robot (long robot_id)
int connect_robot (long robot_id,...)
int disconnect_robot (long robot_id)
int ac (int t_ac, int s_ac, int r_ac)
int sp (int t_sp, int s_sp, int r_sp)
int pr (int t_pr, int s_pr, int r_pr)
int vm (int t_vm, int s_vm, int r_vm)
int mv (int t_mode, int t_mv, int s_mode, int s_mv, int r_mode, int r_mv)
int ct (void)
int gs (void)
int st (void)
int lp (void)
int tk (char *talk_string)
int dp (int x, int y)
int zr (void)
int conf_ir (int history, int order[16])
int conf_sn (int rate, int order[16])
int conf_cp (int mode)
int conf_ls (unsigned int mode, unsigned int threshold, unsigned int width, unsigned int num_data, unsigned int processing)
int conf_tm (unsigned char timeout)
int get_ir (void)
int get_sn (void)
int get_rc (void)
int get_rv (void)
int get_ra (void)
int get_cp (void)
int get_ls (void)
int get_bp (void)
int conf_sg (unsigned int threshold, unsigned int min_points, unsigned int gap)
int get_sg (void)
int da (int th, int tu)
int ws (unsigned char t_ws, unsigned char s_ws, unsigned char r_ws, unsigned char timeout)
int get_rpx (long *robot_pos)
int add_obstacle (long obs[2 *MAX_VERTICES+1])
int add_Obs (long obs[2 *MAX_VERTICES+1])
int delete_obstacle (long obs[2 *MAX_VERTICES+1])
int delete_Obs (long obs[2 *MAX_VERTICES+1])
int move_obstacle (long obs[2 *MAX_VERTICES+1], long dx, long dy)
int move_Obs (long obs[2 *MAX_VERTICES+1], long dx, long dy)
int new_world (void)
int refresh_all (void)
int refresh_all_traces (void)
int refresh_actual_trace (void)
int refresh_encoder_trace (void)
int refresh_all_sensors (void)
int refresh_bumper_sensor (void)
int refresh_infrared_sensor (void)
int refresh_sonar_sensor (void)
int refresh_laser_sensor (void)
int refresh_client_graphics (void)
void init_mask (void)
int init_sensors (void)
int place_robot (int x, int y, int th, int tu)
int special_request (unsigned char *user_send_buffer, unsigned char *user_receive_buffer)
int draw_robot (long x, long y, int th, int tu, int mode)
int draw_line (long x_1, long y_1, long x_2, long y_2, int mode)
int draw_arc (long x_0, long y_0, long w, long h, int th1, int th2, int mode)
int server_is_running (void)
int quit_server (void)
int real_robot (void)
int simulated_robot (void)
int predict_sensors (int x, int y, int th, int tu, long *state, int *laser)
int motion_check (long type, double a1, double a2, double a3, double a4, double a5, double a6, double a7, double collide[3])
int get_robot_conf (long *conf)
int init_receive_buffer (unsigned short *index)
int extract_receive_buffer_header (unsigned short *length, unsigned char *serial_number, unsigned char *packet_type, unsigned char *buffer)
int init_send_buffer (unsigned short *index)
int stuff_send_buffer_header (unsigned short index, unsigned char serial_number, unsigned char packet_type, unsigned char *buffer)
int stuffchar (signed char data, unsigned char *buffer, unsigned short *index)
int stuff2byteint (signed short data, unsigned char *buffer, unsigned short *index)
int stuff4byteint (signed long data, unsigned char *buffer, unsigned short *index)
int stuffuchar (unsigned char data, unsigned char *buffer, unsigned short *index)
int stuff2byteuint (unsigned short data, unsigned char *buffer, unsigned short *index)
int stuff4byteuint (unsigned long data, unsigned char *buffer, unsigned short *index)
int stuffdouble (double data, unsigned char *buffer, unsigned short *index)
signed char extractchar (unsigned char *buffer, unsigned short *index)
signed short extract2byteint (unsigned char *buffer, unsigned short *index)
signed long extract4byteint (unsigned char *buffer, unsigned short *index)
unsigned char extractuchar (unsigned char *buffer, unsigned short *index)
unsigned short extract2byteuint (unsigned char *buffer, unsigned short *index)
unsigned long extract4byteuint (unsigned char *buffer, unsigned short *index)
double extractdouble (unsigned char *buffer, unsigned short *index)
int get_state (long state[NUM_STATE])
int get_laser (int laser[2 *NUM_LASER+1])
int get_mask (int mask[NUM_MASK])
int set_mask (int mask[NUM_MASK])
int set_server_machine_name (char *sname)
int set_serv_tcp_port (int port)
int posDataRequest (int posRequest)
int posDataCheck (void)
int posInfraredRingGet (PosData posData[INFRAREDS])
int posInfraredGet (PosData *posData, int infraredNumber)
int posSonarRingGet (PosData posData[SONARS])
int posSonarGet (PosData *posData, int sonarNumber)
int posBumperGet (PosData *posData)
int posLaserGet (PosData *posData)
int posCompassGet (PosData *posData)
int posTimeGet (void)
float voltCpuGet (void)
float voltMotorGet (void)

Variables

long State [NUM_STATE]
int Smask [NUM_MASK]
int Laser [2 *NUM_LASER+1]
char SERVER_MACHINE_NAME [80]
int SERV_TCP_PORT
char ROBOT_MACHINE_NAME [80]
int CONN_TYPE
int ROBOT_TCP_PORT
double LASER_CALIBRATION [8]
double LASER_OFFSET [2]

Define Documentation

#define FALSE   0
 

#define TRUE   1
 

#define NULL   0
 

#define MAX_VERTICES   10
 

#define NUM_STATE   45
 

#define NUM_MASK   44
 

#define NUM_LASER   482
 

#define BUFSIZE   4096
 

#define MAX_USER_BUF   0xFFFF
 

#define MODEL_N200   0
 

#define MODEL_N150   1
 

#define MODEL_SCOUT   2
 

#define MODEL_SCOUT2   2
 

#define SONARS   16
 

#define INFRAREDS   16
 

#define STATE_SIM_SPEED   0
 

#define STATE_IR_0   1
 

#define STATE_IR_1   2
 

#define STATE_IR_2   3
 

#define STATE_IR_3   4
 

#define STATE_IR_4   5
 

#define STATE_IR_5   6
 

#define STATE_IR_6   7
 

#define STATE_IR_7   8
 

#define STATE_IR_8   9
 

#define STATE_IR_9   10
 

#define STATE_IR_10   11
 

#define STATE_IR_11   12
 

#define STATE_IR_12   13
 

#define STATE_IR_13   14
 

#define STATE_IR_14   15
 

#define STATE_IR_15   16
 

#define STATE_SONAR_0   17
 

#define STATE_SONAR_1   18
 

#define STATE_SONAR_2   19
 

#define STATE_SONAR_3   20
 

#define STATE_SONAR_4   21
 

#define STATE_SONAR_5   22
 

#define STATE_SONAR_6   23
 

#define STATE_SONAR_7   24
 

#define STATE_SONAR_8   25
 

#define STATE_SONAR_9   26
 

#define STATE_SONAR_10   27
 

#define STATE_SONAR_11   28
 

#define STATE_SONAR_12   29
 

#define STATE_SONAR_13   30
 

#define STATE_SONAR_14   31
 

#define STATE_SONAR_15   32
 

#define STATE_BUMPER   33
 

#define STATE_CONF_X   34
 

#define STATE_CONF_Y   35
 

#define STATE_CONF_STEER   36
 

#define STATE_CONF_TURRET   37
 

#define STATE_VEL_TRANS   38
 

#define STATE_VEL_RIGHT   38 /* for scout */
 

#define STATE_VEL_STEER   39
 

#define STATE_VEL_LEFT   39 /* for scout */
 

#define STATE_VEL_TURRET   40
 

#define STATE_MOTOR_STATUS   41
 

#define STATE_LASER   42
 

#define STATE_COMPASS   43
 

#define STATE_ERROR   44
 

#define SMASK_POS_DATA   0
 

#define SMASK_IR_1   1
 

#define SMASK_IR_2   2
 

#define SMASK_IR_3   3
 

#define SMASK_IR_4   4
 

#define SMASK_IR_5   5
 

#define SMASK_IR_6   6
 

#define SMASK_IR_7   7
 

#define SMASK_IR_8   8
 

#define SMASK_IR_9   9
 

#define SMASK_IR_10   10
 

#define SMASK_IR_11   11
 

#define SMASK_IR_12   12
 

#define SMASK_IR_13   13
 

#define SMASK_IR_14   14
 

#define SMASK_IR_15   15
 

#define SMASK_IR_16   16
 

#define SMASK_SONAR_1   17
 

#define SMASK_SONAR_2   18
 

#define SMASK_SONAR_3   19
 

#define SMASK_SONAR_4   20
 

#define SMASK_SONAR_5   21
 

#define SMASK_SONAR_6   22
 

#define SMASK_SONAR_7   23
 

#define SMASK_SONAR_8   24
 

#define SMASK_SONAR_9   25
 

#define SMASK_SONAR_10   26
 

#define SMASK_SONAR_11   27
 

#define SMASK_SONAR_12   28
 

#define SMASK_SONAR_13   29
 

#define SMASK_SONAR_14   30
 

#define SMASK_SONAR_15   31
 

#define SMASK_SONAR_16   32
 

#define SMASK_BUMPER   33
 

#define SMASK_CONF_X   34
 

#define SMASK_CONF_Y   35
 

#define SMASK_CONF_STEER   36
 

#define SMASK_CONF_TURRET   37
 

#define SMASK_VEL_TRANS   38
 

#define SMASK_VEL_STEER   39
 

#define SMASK_VEL_TURRET   40
 

#define SMASK_RESERVED   41
 

#define SMASK_LASER   42
 

#define SMASK_COMPASS   43
 

#define MV_IGNORE   0
 

#define MV_VM   1 /* velocity mode */
 

#define MV_PR   2 /* position relative mode */
 

#define MV_LP   3 /* limp mode */
 

#define MV_AC   4 /* set acceleration for vm, pr, pa modes*/
 

#define MV_SP   5 /* set velocity for pr, pa modes */
 

#define MV_PA   6 /* position absolute mode */
 

#define MV_TQ   7 /* torque mode */
 

#define MV_MT   8 /* set maximum torque for vm, pr, pa, tq modes */
 

#define ZR_CHECK   1
 

#define ZR_ORIENT   2
 

#define ZR_NO_N_GRIPPER   4
 

#define ARM_ZR   40
 

#define ARM_WS   41
 

#define ARM_MV   42
 

#define POS_NONE   ( 0 << 0 )
 

#define POS_INFRARED   ( 1 << 0 )
 

#define POS_SONAR   ( 1 << 1 )
 

#define POS_BUMPER   ( 1 << 2 )
 

#define POS_LASER   ( 1 << 3 )
 

#define POS_COMPASS   ( 1 << 4 )
 

#define POS_INFRARED_P   ( ( (posDataCheck()) & POS_INFRARED ) ? 1 : 0 )
 

#define POS_SONAR_P   ( ( (posDataCheck()) & POS_SONAR ) ? 1 : 0 )
 

#define POS_BUMPER_P   ( ( (posDataCheck()) & POS_BUMPER ) ? 1 : 0 )
 

#define POS_LASER_P   ( ( (posDataCheck()) & POS_LASER ) ? 1 : 0 )
 

#define POS_COMPASS_P   ( ( (posDataCheck()) & POS_COMPASS ) ? 1 : 0 )
 

#define POS_IR_1   0
 

#define POS_IR_2   1
 

#define POS_IR_3   2
 

#define POS_IR_4   3
 

#define POS_IR_5   4
 

#define POS_IR_6   5
 

#define POS_IR_7   6
 

#define POS_IR_8   7
 

#define POS_IR_9   8
 

#define POS_IR_10   9
 

#define POS_IR_11   10
 

#define POS_IR_12   11
 

#define POS_IR_13   12
 

#define POS_IR_14   13
 

#define POS_IR_15   14
 

#define POS_IR_16   15
 

#define POS_SONAR_1   0
 

#define POS_SONAR_2   1
 

#define POS_SONAR_3   2
 

#define POS_SONAR_4   3
 

#define POS_SONAR_5   4
 

#define POS_SONAR_6   5
 

#define POS_SONAR_7   6
 

#define POS_SONAR_8   7
 

#define POS_SONAR_9   8
 

#define POS_SONAR_10   9
 

#define POS_SONAR_11   10
 

#define POS_SONAR_12   11
 

#define POS_SONAR_13   12
 

#define POS_SONAR_14   13
 

#define POS_SONAR_15   14
 

#define POS_SONAR_16   15
 

#define USER_BUFFER_LENGTH   0xFFFF
 

#define ROTATION_CONSTANT   0.118597 /* inches/degree (known to 100 ppm) */
 

#define RIGHT (  trans,
steer   )     (trans + (int)((float)steer*ROTATION_CONSTANT))
 

#define LEFT (  trans,
steer   )     (trans - (int)((float)steer*ROTATION_CONSTANT))
 

#define scout_vm (  trans,
steer   )     vm(RIGHT(trans, steer), LEFT(trans, steer), 0)
 

Typedef Documentation

typedef unsigned long TimeData
 

typedef struct _ConfigData ConfigData
 

typedef struct _PosData PosData
 

Function Documentation

long arm_mv (  long  l_mode,
long  l_v,
long  g_mode,
long  g_v
) 
 

long arm_ws (  short  lift,
short  grip,
long  timeout,
long *  time_remain
) 
 

long arm_zr (  short  mode  ) 
 

int create_robot (  long  robot_id  ) 
 

int connect_robot (  long  robot_id,
... 
) 
 

int disconnect_robot (  long  robot_id  ) 
 

int ac (  int  t_ac,
int  s_ac,
int  r_ac
) 
 

int sp (  int  t_sp,
int  s_sp,
int  r_sp
) 
 

int pr (  int  t_pr,
int  s_pr,
int  r_pr
) 
 

int vm (  int  t_vm,
int  s_vm,
int  r_vm
) 
 

int mv (  int  t_mode,
int  t_mv,
int  s_mode,
int  s_mv,
int  r_mode,
int  r_mv
) 
 

int ct (  void   ) 
 

int gs (  void   ) 
 

int st (  void   ) 
 

int lp (  void   ) 
 

int tk (  char *  talk_string  ) 
 

int dp (  int  x,
int  y
) 
 

int zr (  void   ) 
 

int conf_ir (  int  history,
int  order[16]
) 
 

int conf_sn (  int  rate,
int  order[16]
) 
 

int conf_cp (  int  mode  ) 
 

int conf_ls (  unsigned int  mode,
unsigned int  threshold,
unsigned int  width,
unsigned int  num_data,
unsigned int  processing
) 
 

int conf_tm (  unsigned char  timeout  ) 
 

int get_ir (  void   ) 
 

int get_sn (  void   ) 
 

int get_rc (  void   ) 
 

int get_rv (  void   ) 
 

int get_ra (  void   ) 
 

int get_cp (  void   ) 
 

int get_ls (  void   ) 
 

int get_bp (  void   ) 
 

int conf_sg (  unsigned int  threshold,
unsigned int  min_points,
unsigned int  gap
) 
 

int get_sg (  void   ) 
 

int da (  int  th,
int  tu
) 
 

int ws (  unsigned char  t_ws,
unsigned char  s_ws,
unsigned char  r_ws,
unsigned char  timeout
) 
 

int get_rpx (  long *  robot_pos  ) 
 

int add_obstacle (  long  obs[2 *MAX_VERTICES+1]  ) 
 

int add_Obs (  long  obs[2 *MAX_VERTICES+1]  ) 
 

int delete_obstacle (  long  obs[2 *MAX_VERTICES+1]  ) 
 

int delete_Obs (  long  obs[2 *MAX_VERTICES+1]  ) 
 

int move_obstacle (  long  obs[2 *MAX_VERTICES+1],
long  dx,
long  dy
) 
 

int move_Obs (  long  obs[2 *MAX_VERTICES+1],
long  dx,
long  dy
) 
 

int new_world (  void   ) 
 

int refresh_all (  void   ) 
 

int refresh_all_traces (  void   ) 
 

int refresh_actual_trace (  void   ) 
 

int refresh_encoder_trace (  void   ) 
 

int refresh_all_sensors (  void   ) 
 

int refresh_bumper_sensor (  void   ) 
 

int refresh_infrared_sensor (  void   ) 
 

int refresh_sonar_sensor (  void   ) 
 

int refresh_laser_sensor (  void   ) 
 

int refresh_client_graphics (  void   ) 
 

void init_mask (  void   ) 
 

int init_sensors (  void   ) 
 

int place_robot (  int  x,
int  y,
int  th,
int  tu
) 
 

int special_request (  unsigned char *  user_send_buffer,
unsigned char *  user_receive_buffer
) 
 

int draw_robot (  long  x,
long  y,
int  th,
int  tu,
int  mode
) 
 

int draw_line (  long  x_1,
long  y_1,
long  x_2,
long  y_2,
int  mode
) 
 

int draw_arc (  long  x_0,
long  y_0,
long  w,
long  h,
int  th1,
int  th2,
int  mode
) 
 

int server_is_running (  void   ) 
 

int quit_server (  void   ) 
 

int real_robot (  void   ) 
 

int simulated_robot (  void   ) 
 

int predict_sensors (  int  x,
int  y,
int  th,
int  tu,
long *  state,
int *  laser
) 
 

int motion_check (  long  type,
double  a1,
double  a2,
double  a3,
double  a4,
double  a5,
double  a6,
double  a7,
double  collide[3]
) 
 

int get_robot_conf (  long *  conf  ) 
 

int init_receive_buffer (  unsigned short *  index  ) 
 

int extract_receive_buffer_header (  unsigned short *  length,
unsigned char *  serial_number,
unsigned char *  packet_type,
unsigned char *  buffer
) 
 

int init_send_buffer (  unsigned short *  index  ) 
 

int stuff_send_buffer_header (  unsigned short  index,
unsigned char  serial_number,
unsigned char  packet_type,
unsigned char *  buffer
) 
 

int stuffchar (  signed char  data,
unsigned char *  buffer,
unsigned short *  index
) 
 

int stuff2byteint (  signed short  data,
unsigned char *  buffer,
unsigned short *  index
) 
 

int stuff4byteint (  signed long  data,
unsigned char *  buffer,
unsigned short *  index
) 
 

int stuffuchar (  unsigned char  data,
unsigned char *  buffer,
unsigned short *  index
) 
 

int stuff2byteuint (  unsigned short  data,
unsigned char *  buffer,
unsigned short *  index
) 
 

int stuff4byteuint (  unsigned long  data,
unsigned char *  buffer,
unsigned short *  index
) 
 

int stuffdouble (  double  data,
unsigned char *  buffer,
unsigned short *  index
) 
 

signed char extractchar (  unsigned char *  buffer,
unsigned short *  index
) 
 

signed short extract2byteint (  unsigned char *  buffer,
unsigned short *  index
) 
 

signed long extract4byteint (  unsigned char *  buffer,
unsigned short *  index
) 
 

unsigned char extractuchar (  unsigned char *  buffer,
unsigned short *  index
) 
 

unsigned short extract2byteuint (  unsigned char *  buffer,
unsigned short *  index
) 
 

unsigned long extract4byteuint (  unsigned char *  buffer,
unsigned short *  index
) 
 

double extractdouble (  unsigned char *  buffer,
unsigned short *  index
) 
 

int get_state (  long  state[NUM_STATE]  ) 
 

int get_laser (  int  laser[2 *NUM_LASER+1]  ) 
 

int get_mask (  int  mask[NUM_MASK]  ) 
 

int set_mask (  int  mask[NUM_MASK]  ) 
 

int set_server_machine_name (  char *  sname  ) 
 

int set_serv_tcp_port (  int  port  ) 
 

int posDataRequest (  int  posRequest  ) 
 

int posDataCheck (  void   ) 
 

int posInfraredRingGet (  PosData  posData[INFRAREDS]  ) 
 

int posInfraredGet (  PosData *  posData,
int  infraredNumber
) 
 

int posSonarRingGet (  PosData  posData[SONARS]  ) 
 

int posSonarGet (  PosData *  posData,
int  sonarNumber
) 
 

int posBumperGet (  PosData *  posData  ) 
 

int posLaserGet (  PosData *  posData  ) 
 

int posCompassGet (  PosData *  posData  ) 
 

int posTimeGet (  void   ) 
 

float voltCpuGet (  void   ) 
 

float voltMotorGet (  void   ) 
 

Variable Documentation

long State[NUM_STATE]
 

int Smask[NUM_MASK]
 

int Laser[2*NUM_LASER+1]
 

char SERVER_MACHINE_NAME[80]
 

int SERV_TCP_PORT
 

char ROBOT_MACHINE_NAME[80]
 

int CONN_TYPE
 

int ROBOT_TCP_PORT
 

double LASER_CALIBRATION[8]
 

double LASER_OFFSET[2]
 

Generated on Tue May 3 14:15:41 2005 for Player by doxygen 1.3.6