289 lines
7.2 KiB
C++
289 lines
7.2 KiB
C++
/**
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Software License Agreement (BSD)
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\file types.h
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\authors Jacob Perron <jperron@sfu.ca>
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\copyright Copyright (c) 2015, Autonomy Lab (Simon Fraser University), All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of Autonomy Lab nor the names of its contributors may
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be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CREATE_TYPES_H
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#define CREATE_TYPES_H
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#include <vector>
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#include <stdint.h>
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#include <string>
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#include <stdexcept>
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namespace create {
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enum ProtocolVersion {
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V_1 = 1,
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V_2 = 2,
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V_3 = 4,
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V_ALL = 0xFFFFFFFF
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};
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class RobotModel {
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public:
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bool operator==(RobotModel& other) const;
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operator uint32_t() const;
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uint32_t getId() const;
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ProtocolVersion getVersion() const;
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float getAxleLength() const;
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unsigned int getBaud() const;
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float getMaxVelocity() const;
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float getWheelDiameter() const;
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/**
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* \brief Compatible with Roomba 400 series and earlier.
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*/
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static RobotModel ROOMBA_400;
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/**
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* \brief Compatible with Create 1 or Roomba 500 series.
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*/
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static RobotModel CREATE_1;
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/**
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* \brief Compatible with Create 2 or Roomba 600 series and greater.
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*/
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static RobotModel CREATE_2;
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private:
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uint32_t id;
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ProtocolVersion version;
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float axleLength;
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unsigned int baud;
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float maxVelocity;
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float wheelDiameter;
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RobotModel(const ProtocolVersion version, const float axleLength, const unsigned int baud, const float maxVelocity = 0.5, const float wheelDiameter = 0.078);
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static uint32_t nextId;
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};
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enum SensorPacketID {
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ID_GROUP_0 = 0,
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ID_GROUP_1 = 1,
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ID_GROUP_2 = 2,
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ID_GROUP_3 = 3,
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ID_GROUP_4 = 4,
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ID_GROUP_5 = 5,
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ID_GROUP_6 = 6,
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ID_GROUP_100 = 100,
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ID_GROUP_101 = 101,
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ID_GROUP_106 = 106,
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ID_GROUP_107 = 107,
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ID_BUMP_WHEELDROP = 7,
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ID_WALL = 8,
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ID_CLIFF_LEFT = 9,
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ID_CLIFF_FRONT_LEFT = 10,
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ID_CLIFF_FRONT_RIGHT = 11,
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ID_CLIFF_RIGHT = 12,
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ID_VIRTUAL_WALL = 13,
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ID_OVERCURRENTS = 14,
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ID_DIRT_DETECT_LEFT = 15,
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ID_DIRT_DETECT_RIGHT = 16,
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ID_IR_OMNI = 17,
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ID_IR_LEFT = 52,
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ID_IR_RIGHT = 53,
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ID_BUTTONS = 18,
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ID_DISTANCE = 19,
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ID_ANGLE = 20,
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ID_CHARGE_STATE = 21,
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ID_VOLTAGE = 22,
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ID_CURRENT = 23,
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ID_TEMP = 24,
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ID_CHARGE = 25,
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ID_CAPACITY = 26,
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ID_WALL_SIGNAL = 27,
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ID_CLIFF_LEFT_SIGNAL = 28,
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ID_CLIFF_FRONT_LEFT_SIGNAL = 29,
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ID_CLIFF_FRONT_RIGHT_SIGNAL = 30,
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ID_CLIFF_RIGHT_SIGNAL = 31,
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ID_CARGO_BAY_DIGITAL_INPUTS = 32,
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ID_CARGO_BAY_ANALOG_SIGNAL = 33,
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ID_CHARGE_SOURCE = 34,
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ID_OI_MODE = 35,
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ID_SONG_NUM = 36,
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ID_PLAYING = 37,
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ID_NUM_STREAM_PACKETS = 38,
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ID_VEL = 39,
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ID_RADIUS = 40,
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ID_RIGHT_VEL = 41,
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ID_LEFT_VEL = 42,
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ID_LEFT_ENC = 43,
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ID_RIGHT_ENC = 44,
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ID_LIGHT = 45,
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ID_LIGHT_LEFT = 46,
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ID_LIGHT_FRONT_LEFT = 47,
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ID_LIGHT_CENTER_LEFT = 48,
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ID_LIGHT_CENTER_RIGHT = 49,
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ID_LIGHT_FRONT_RIGHT = 50,
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ID_LIGHT_RIGHT = 51,
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ID_LEFT_MOTOR_CURRENT = 54,
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ID_RIGHT_MOTOR_CURRENT = 55,
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ID_MAIN_BRUSH_CURRENT = 56,
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ID_SIDE_BRUSH_CURRENT = 57,
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ID_STASIS = 58,
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ID_NUM = 52
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};
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enum Opcode {
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OC_START = 128,
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OC_RESET = 7,
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OC_STOP = 173,
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OC_BAUD = 129,
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OC_CONTROL = 130,
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OC_SAFE = 131,
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OC_FULL = 132,
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OC_CLEAN = 135,
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OC_MAX = 136,
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OC_SPOT = 134,
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OC_DOCK = 143,
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OC_POWER = 133,
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OC_SCHEDULE = 167,
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OC_DATE = 168,
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OC_DRIVE = 137,
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OC_DRIVE_DIRECT = 145,
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OC_DRIVE_PWM = 146,
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OC_MOTORS = 138,
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OC_MOTORS_PWM = 144,
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OC_LEDS = 139,
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OC_SCHEDULING_LEDS = 162,
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OC_DIGIT_LEDS_RAW = 163,
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OC_BUTTONS = 165,
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OC_DIGIT_LEDS_ASCII = 164,
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OC_SONG = 140,
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OC_PLAY = 141,
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OC_SENSORS= 142,
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OC_QUERY_LIST=149,
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OC_STREAM = 148,
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OC_TOGGLE_STREAM = 150
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};
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enum BAUDCODE {
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BAUD_300 = 0,
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BAUD_600 = 1,
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BAUD_1200 = 2,
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BAUD_2400 = 3,
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BAUD_4800 = 4,
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BAUD_9600 = 5,
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BAUD_14400 = 6,
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BAUD_19200 = 7,
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BAUD_28800 = 8,
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BAUD_38400 = 9,
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BAUD_57600 = 10,
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BAUD_115200 = 11
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};
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enum CreateMode {
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MODE_OFF = 0,
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MODE_PASSIVE = 1,
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MODE_SAFE = 2,
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MODE_FULL = 3,
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MODE_UNAVAILABLE = -1
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};
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enum CleanMode {
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CLEAN_DEFAULT = OC_CLEAN,
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CLEAN_MAX = OC_MAX,
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CLEAN_SPOT = OC_SPOT
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};
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enum ChargingState {
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CHARGE_NONE = 0,
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CHARGE_RECONDITION = 1,
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CHARGE_FULL = 2,
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CHARGE_TRICKLE = 3,
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CHARGE_WAITING = 4,
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CHARGE_FAULT = 5
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};
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enum DayOfWeek {
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SUN = 0,
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MON = 1,
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TUE = 2,
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WED = 3,
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THU = 4,
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FRI = 5,
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SAT = 6
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};
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enum IRChars {
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IR_CHAR_NONE = 0,
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IR_CHAR_LEFT = 129,
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IR_CHAR_FORWARD = 130,
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IR_CHAR_RIGHT = 131,
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IR_CHAR_SPOT = 132,
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IR_CHAR_MAX = 133,
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IR_CHAR_SMALL = 134,
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IR_CHAR_MEDIUM = 135,
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IR_CHAR_LARGE = 136,
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IR_CHAR_CLEAN = 136,
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IR_CHAR_PAUSE = 137,
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IR_CHAR_POWER = 138,
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IR_CHAR_ARC_LEFT = 139,
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IR_CHAR_ARC_RIGHT = 140,
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IR_CHAR_STOP = 141,
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IR_CHAR_DOWNLOAD = 142,
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IR_CHAR_SEEK_DOCK = 143,
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IR_CHAR_DOCK_RESERVED = 240,
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IR_CHAR_RED_BUOY = 248,
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IR_CHAR_GREEN_BUOY = 244,
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IR_CHAR_FORCE_FIELD = 242,
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IR_CHAR_RED_GREEN_BUOY = 252,
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IR_CHAR_RED_FORCE_FIELD = 250,
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IR_CHAR_GREEN_FORCE_FIELD = 246,
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IR_CHAR_RED_GREEN_FORCE_FIELD = 254,
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IR_CHAR_600_DOCK_RESERVED = 160,
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IR_CHAR_600_FORCE_FIELD = 161,
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IR_CHAR_600_GREEN_BUOY = 164,
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IR_CHAR_600_GREEN_FORCE_FIELD = 165,
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IR_CHAR_600_RED_BUOY = 168,
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IR_CHAR_600_RED_FORCE_FIELD = 169,
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IR_CHAR_600_RED_GREEN_BUOY = 172,
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IR_CHAR_600_RED_GREEN_FORCE_FIELD = 173,
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IR_CHAR_VIRTUAL_WALL = 162
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};
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/**
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* \brief Represents a robot pose.
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*/
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struct Pose {
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float x;
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float y;
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float yaw;
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/**
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* \brief 3x3 covariance matrix in row-major order.
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*/
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std::vector<float> covariance;
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};
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typedef Pose Vel;
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} // namespace create
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#endif // CREATE_TYPES_H
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