p2os/sip.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2000
4  * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
5  *
6  *
7  * This program is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 /*
24  * $Id: sip.h 9120 2013-01-07 00:18:52Z jpgr87 $
25  *
26  * part of the P2OS parser. methods for filling and parsing server
27  * information packets (SIPs)
28  */
29 #ifndef _SIP_H
30 #define _SIP_H
31 
32 #include <limits.h>
33 
34 #include "p2os.h"
35 
36 typedef struct ArmJoint
37 {
38  char speed;
39  unsigned char home;
40  unsigned char min;
41  unsigned char centre;
42  unsigned char max;
43  unsigned char ticksPer90;
44 } ArmJoint;
45 
46 class SIP
47 {
48  private:
49  int PositionChange( unsigned short, unsigned short );
50  int param_idx; // index of our robot's data in the parameter table
51 
52  public:
53  // these values are returned in every standard SIP
54  bool lwstall, rwstall;
55  unsigned char status, battery, sonarreadings, analog, digin, digout;
56  unsigned short ptu, compass, timer, rawxpos;
57  unsigned short rawypos, frontbumpers, rearbumpers;
58  short angle, lvel, rvel, control;
59  unsigned short *sonars;
60  int xpos, ypos;
61  int x_offset,y_offset,angle_offset;
62 
63  // these values are returned in a CMUcam serial string extended SIP
64  // (in host byte-order)
65  unsigned short blobmx, blobmy; // Centroid
66  unsigned short blobx1, blobx2, bloby1, bloby2; // Bounding box
67  unsigned short blobarea, blobconf; // Area and confidence
68  unsigned int blobcolor;
69 
70  // This value is filled by ParseGyro()
71  int32_t gyro_rate;
72 
73  // This information comes from the ARMpac and ARMINFOpac packets
74  bool armPowerOn, armConnected;
75  bool armJointMoving[6];
76  unsigned char armJointPos[6];
77  double armJointPosRads[6];
78  unsigned char armJointTargetPos[6];
79  char *armVersionString;
80  unsigned char armNumJoints;
81  ArmJoint *armJoints;
82 
83  // Need this value to calculate approx position of lift when in between up and down
84  double lastLiftPos;
85 
86  //Timestamping SIP packets
87  //double timeStandardSIP, timeGyro, timeSERAUX, timeArm;
88 
89  /* returns 0 if Parsed correctly otherwise 1 */
90  void ParseStandard( unsigned char *buffer );
91  void ParseSERAUX( unsigned char *buffer );
92  void ParseGyro(unsigned char* buffer);
93  void ParseArm (unsigned char *buffer);
94  void ParseArmInfo (unsigned char *buffer);
95  void Print();
96  void PrintSonars();
97  void PrintArm ();
98  void PrintArmInfo ();
99  void FillStandard(player_p2os_data_t* data);
100  void FillSERAUX(player_p2os_data_t* data);
101  void FillGyro(player_p2os_data_t* data);
102  void FillArm(player_p2os_data_t* data);
103 
104  SIP(int idx)
105  {
106  param_idx = idx;
107  sonarreadings = 0;
108  sonars = NULL;
109 
110  xpos = INT_MAX;
111  ypos = INT_MAX;
112 
113  // intialise some of the internal values
114  blobmx = blobmy = blobx1 = blobx2 = bloby1 = bloby2 = blobarea = blobconf = blobcolor = 0;
115  armPowerOn = armConnected = false;
116  armVersionString = NULL;
117  armJoints = NULL;
118  armNumJoints = 0;
119  for (int i = 0; i < 6; ++i)
120  {
121  armJointMoving[i] = false;
122  armJointPos[i] = 0;
123  armJointPosRads[i] = 0;
124  armJointTargetPos[i] = 0;
125  }
126  }
127 
128  ~SIP(void)
129  {
130  delete[] sonars;
131  }
132 };
133 
134 #endif
SIP
Definition: p2os/sip.h:46
ArmJoint
Definition: p2os/sip.h:36
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