player sip.h Source File

00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2000  
00004  *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
00005  *                      
00006  *
00007  *  This program is free software; you can redistribute it and/or modify
00008  *  it under the terms of the GNU General Public License as published by
00009  *  the Free Software Foundation; either version 2 of the License, or
00010  *  (at your option) any later version.
00011  *
00012  *  This program is distributed in the hope that it will be useful,
00013  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *  GNU General Public License for more details.
00016  *
00017  *  You should have received a copy of the GNU General Public License
00018  *  along with this program; if not, write to the Free Software
00019  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00020  *
00021  */
00022 
00023 /*
00024  * $Id: sip.h,v 1.4 2004/04/22 04:21:35 gerkey Exp $
00025  *
00026  * part of the P2OS parser.  methods for filling and parsing server
00027  * information packets (SIPs)
00028  */
00029 #ifndef _SIP_H
00030 #define _SIP_H
00031 
00032 #include <limits.h>
00033 
00034 #include <p2os.h>
00035 
00036 class SIP 
00037 {
00038  private:
00039   int PositionChange( unsigned short, unsigned short );
00040   int param_idx; // index of our robot's data in the parameter table
00041 
00042  public:
00043   // these values are returned in every standard SIP
00044   bool lwstall, rwstall;
00045   unsigned char status, battery, sonarreadings, analog, digin, digout;
00046   unsigned short ptu, compass, timer, rawxpos; 
00047   unsigned short rawypos, frontbumpers, rearbumpers;
00048   short angle, lvel, rvel, control;
00049   unsigned short sonars[PLAYER_SONAR_MAX_SAMPLES];
00050   int xpos, ypos;
00051   int x_offset,y_offset,angle_offset;
00052 
00053   // these values are returned in a CMUcam serial string extended SIP
00054   // (in host byte-order)
00055   unsigned short blobmx, blobmy;        // Centroid
00056   unsigned short blobx1, blobx2, bloby1, bloby2;        // Bounding box
00057   unsigned short blobarea, blobconf;    // Area and confidence
00058   unsigned int   blobcolor;
00059 
00060   // This value is filled by ParseGyro()
00061   int32_t gyro_rate;
00062 
00063   /* returns 0 if Parsed correctly otherwise 1 */
00064   void Parse( unsigned char *buffer );
00065   void ParseSERAUX( unsigned char *buffer );
00066   void ParseGyro(unsigned char* buffer);
00067   void Print();
00068   void PrintSonars();
00069   void Fill(player_p2os_data_t* data);
00070 
00071   SIP(int idx) 
00072   {
00073     param_idx = idx;
00074     for(int i=0;i<ARRAYSIZE(sonars);i++) 
00075       sonars[i] = 0;
00076 
00077     xpos = INT_MAX;
00078     ypos = INT_MAX;
00079   }
00080 };
00081 
00082 #endif