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p2os.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard * * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* * $Id: p2os.h,v 1.17 2005/01/26 18:48:31 gerkey Exp $ * * the P2OS device. it's the parent device for all the P2 'sub-devices', * like gripper, position, sonar, etc. there's a thread here that * actually interacts with P2OS via the serial line. the other * "devices" communicate with this thread by putting into and getting * data out of shared buffers. */ #ifndef _P2OSDEVICE_H #define _P2OSDEVICE_H #include <pthread.h> #include <sys/time.h> #include <driver.h> #include <drivertable.h> #include <packet.h> #include <player.h> #include <robot_params.h> // Default max speeds #define MOTOR_DEF_MAX_SPEED 0.5 #define MOTOR_DEF_MAX_TURNSPEED DTOR(100) /* * Apparently, newer kernel require a large value (200000) here. It only * makes the initialization phase take a bit longer, and doesn't have any * impact on the speed at which packets are received from P2OS */ #define P2OS_CYCLETIME_USEC 200000 /* p2os constants */ /* Command numbers */ #define SYNC0 0 #define SYNC1 1 #define SYNC2 2 #define PULSE 0 #define OPEN 1 #define CLOSE 2 #define ENABLE 4 #define SETA 5 #define SETV 6 #define SETO 7 #define VEL 11 #define RVEL 21 #define SETRA 23 #define SONAR 28 #define STOP 29 #define VEL2 32 #define GRIPPER 33 #define GRIPPERVAL 36 #define TTY2 42 // Added in AmigOS 1.2 #define GETAUX 43 // Added in AmigOS 1.2 #define BUMP_STALL 44 #define JOYDRIVE 47 #define GYRO 58 // Added in AROS 1.8 #define TTY3 66 // Added in AmigOS 1.3 #define GETAUX2 67 // Added in AmigOS 1.3 #define SOUND 90 #define PLAYLIST 91 /* Server Information Packet (SIP) types */ #define STATUSSTOPPED 0x32 #define STATUSMOVING 0x33 #define ENCODER 0x90 #define SERAUX 0xB0 #define SERAUX2 0xB8 // Added in AmigOS 1.3 #define GYROPAC 0x98 // Added AROS 1.8 //#define PLAYLIST 0xD0 /* Argument types */ #define ARGINT 0x3B // Positive int (LSB, MSB) #define ARGNINT 0x1B // Negative int (LSB, MSB) #define ARGSTR 0x2B // String (Note: 1st byte is length!!) /* gripper stuff */ #define GRIPopen 1 #define GRIPclose 2 #define GRIPstop 3 #define LIFTup 4 #define LIFTdown 5 #define LIFTstop 6 #define GRIPstore 7 #define GRIPdeploy 8 #define GRIPhalt 15 #define GRIPpress 16 #define LIFTcarry 17 /* CMUcam stuff */ #define CMUCAM_IMAGE_WIDTH 80 #define CMUCAM_IMAGE_HEIGHT 143 #define CMUCAM_MESSAGE_LEN 10 #define DEFAULT_P2OS_PORT "/dev/ttyS0" typedef struct player_p2os_data { player_position_data_t position; player_sonar_data_t sonar; player_gripper_data_t gripper; player_power_data_t power; player_bumper_data_t bumper; player_dio_data_t dio; player_aio_data_t aio; player_blobfinder_data_t blobfinder; player_position_data_t compass; player_position_data_t gyro; } __attribute__ ((packed)) player_p2os_data_t; // this is here because we need the above typedef's before including it. #include <sip.h> class SIP; class P2OS : public Driver { private: player_p2os_data_t p2os_data; player_device_id_t position_id; player_device_id_t sonar_id; player_device_id_t aio_id; player_device_id_t dio_id; player_device_id_t gripper_id; player_device_id_t bumper_id; player_device_id_t power_id; player_device_id_t compass_id; player_device_id_t gyro_id; player_device_id_t blobfinder_id; player_device_id_t sound_id; // bookkeeping to only send new gripper I/O commands bool sent_gripper_cmd; player_gripper_cmd_t last_gripper_cmd; // bookkeeping to only send new sound I/O commands bool sent_sound_cmd; player_sound_cmd_t last_sound_cmd; int position_subscriptions; int sonar_subscriptions; SIP* sippacket; int SendReceive(P2OSPacket* pkt); void ResetRawPositions(); /* toggle sonars on/off, according to val */ void ToggleSonarPower(unsigned char val); /* toggle motors on/off, according to val */ void ToggleMotorPower(unsigned char val); void HandleConfig(void); void GetCommand(void); void PutData(void); void HandlePositionCommand(player_position_cmd_t position_cmd); void HandleGripperCommand(player_gripper_cmd_t gripper_cmd); void HandleSoundCommand(player_sound_cmd_t sound_cmd); int param_idx; // index in the RobotParams table for this robot int direct_wheel_vel_control; // false -> separate trans and rot vel int psos_fd; // p2os device file descriptor const char* psos_serial_port; struct timeval lastblob_tv; // Max motor speeds (mm/sec,deg/sec) int motor_max_speed; int motor_max_turnspeed; // Bound the command velocities bool use_vel_band; // Max motor accel/decel (mm/sec/sec, deg/sec/sec) short motor_max_trans_accel, motor_max_trans_decel; short motor_max_rot_accel, motor_max_rot_decel; int radio_modemp; // are we using a radio modem? int joystickp; // are we using a joystick? int bumpstall; // should we change the bumper-stall behavior? public: P2OS(ConfigFile* cf, int section); int Subscribe(player_device_id_t id); int Unsubscribe(player_device_id_t id); /* the main thread */ void Main(); int Setup(); int Shutdown(); void CMUcamReset(); void CMUcamTrack(int rmin=0, int rmax=0, int gmin=0, int gmax=0, int bmin=0, int bmax=0); void CMUcamStopTracking(); }; #endif