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/* Eugene Marinelli, Fan
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 * 10/27/06
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 *
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 * Colonet Definitions - common definitions and structs used in all colonet
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 * applications
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 */
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#ifndef COLONET_DEFS_H_
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#define COLONET_DEFS_H_
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// PacketGroup id for wireless library.
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#define COLONET_PACKET_GROUP_ID 8
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#define COLONET_RESPONSE_PACKET_FRAME_ID COLONET_PACKET_GROUP_ID
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//Colonet Client commands
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//TODO: renamed these to end in LENGTH
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#define MAX_COMMAND_LEN 128
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#define MAX_RESPONSE_LEN 1024
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typedef enum {SEND_TO_ROBOT = 0, REQUEST_FROM_SERVER = 1, RESPONSE_TO_CLIENT_REQUEST = 2} ColonetClientMessageType;
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typedef enum {COLONET_COMMAND = 13, COLONET_REQUEST = 14, COLONET_RESPONSE = 15} ColonetRobotMessageType;
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//Packet properties
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#define PACKET_DATA_LEN 16
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#define WL_DEFAULT_PAN 3332
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#define SERIAL_PORT "/dev/ttyS0"
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#define USB_PORT "/dev/ttyUSB0"
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// Message dests
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#define GLOBAL_DEST 200
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#define COLONET_SERVER_RESPONSE_ADDR 201
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#define USER_DEFINED_MSG_ID_START 0xF0
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#define USER_DEFINED_MSG_ID_END 0xFF
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#define USER_DEFINED_MSG_TOTAL 0x0F
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/* This is the packet structure of the data buffer sent from the colonet
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 * wireless library to the robots and from the robots to the colonet wireless
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 * library. */
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typedef struct {
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  short client_id; // ID number of the client sending the packet. Size of short is common to robots and server.
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  unsigned char msg_code; // Specific instruction for the robot -- see below.
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  unsigned char data[PACKET_DATA_LEN];
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} ColonetRobotServerPacket;
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/* Message codes */
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//BUZZER
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#define BUZZER_INIT 0x00
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#define BUZZER_SET_VAL 0x01
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#define BUZZER_SET_FREQ 0x02
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#define BUZZER_CHIRP 0x03
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#define BUZZER_OFF 0x04
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//LCD
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#define LCD_INIT 0x05
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#define LCD_CLEAR_SCREEN 0x06
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#define LCD_PUTBYTE 0x07
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#define LCD_PUTCHAR 0x08
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#define LCD_PUTSTR 0x09
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#define LCD_GOTOXY 0x0A
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#define LCD_PUTINT 0x0B
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//ORB
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#define ORB_INIT 0x0C
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#define ORB_SET 0x0D
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#define ORB_SET_COLOR 0x0E
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#define ORB_DISABLE 0x0F
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#define ORB_ENABLE 0x10
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#define ORB_SET_DIO 0x11
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#define LED_INIT 0x12
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#define LED_USER 0x13
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#define ORB_SET_NUM_NS 0x14
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#define ORB_SET_NUM 0x15
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#define ORB_SEND 0x16
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//MOTORS
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#define MOTORS_INIT 0x17
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#define MOTOR1_SET 0x18
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#define MOTOR2_SET 0x19
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#define MOTORS_OFF 0x1A
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#define MOVE 0x1B
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#define MOVE_AVOID 0x1C
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//SHARP
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#define READ_DISTANCE 0x24
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#define LINEARIZE_DISTANCE 0x25
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#define LOG_DISTANCE 0x26
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#define ENABLE_IR 0x27
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#define DISABLE_IR 0x28
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//SERIAL
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#define XBEE_INIT 0x29
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#define XBEE_PUTC 0x2A
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#define XBEE_GETC 0x2B
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#define USB_INIT 0x2D
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#define USB_PUTC 0x2E
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#define USB_GETC 0x2F
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//DELAY_MS
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#define DELAY_MS 0x31
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//ANALOG
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#define ANALOG_INIT 0x32
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#define SET_ADC_MUX 0x33
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#define ENABLE_ANALOG 0x34
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#define CALL_ANALOG8 0x35
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#define CALL_ANALOG10 0x36
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#define WHEEL 0x37
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#define BATTERY 0x38
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//BOM
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#define GETMAXBOM 0x39
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#define BOM_ON 0x3A
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#define BOM_OFF 0x3B
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#define OUTPUT_HIGH 0x3C
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#define OUTPUT_LOW 0x3D
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//DIO
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#define DIGITAL_INPUT 0x3E
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#define DIGITAL_OUTPUT 0x3F
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#define BUTTON1_READ 0x41
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#define BUTTON1_WAIT 0x42
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#define BUTTON1_WAIT_LED 0x43
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#define BUTTON2_READ 0x44
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#define BUTTON2_WAIT 0x45
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#define BUTTON2_WAIT_LED 0x46
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//WL
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#define WL_INIT 0x47
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#define PARSE_BUFFER 0x48
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#define WL_SEND 0x49
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//BUMPER
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#define DETECT_BUMP 0x50
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//Other
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#define PRINTF 0x51
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#define KILL_ROBOT 0x52
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#define MOVE_TO_ABSOLUTE_POSITION 0x53
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#define ROBOT_REQUEST_POSITION_FROM_SERVER 0x54
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#define SERVER_REPORT_POSITION_TO_ROBOT 0x55
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#define CLIENT_REQUEST_ROBOT_POSITIONS 0x56
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#define CLIENT_ASSIGN_ROBOT_ID 0x57
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#define SERVER_REPORT_ROBOT_LOST 0x58
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#define CLIENT_SET_VIRTUAL_WALL 0x59
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#define SERVER_REPORT_VIRTUAL_WALL_UPPER 0x5A
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#define SERVER_REPORT_VIRTUAL_WALL_LOWER 0x5B
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#define SERVER_CLEAR_VIRTUAL_WALL 0x5C
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#define ROBOT_REPORT_ARRIVED_AT_POSITION 0x5D
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///////////////////////////
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//Colonet specific commands
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//////////////////////////
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#define REQUEST_BOM_MATRIX 0x90
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//request: REQUEST_FROM_SERVER REQUEST_BOM_MATRIX
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//response: RESPONSE_TO_CLIENT_REQUEST REQUEST_BOM_MATRIX <numRobots> <row by row, values separated by spaces>
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// if you don't know a value in the matrix, put -1 in there
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#define REQUEST_XBEE_IDS 0x91
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//request: REQUEST_FROM_SERVER REQUEST_XBEE_IDS
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//response: RESPONSE_TO_CLIENT_REQUEST REQUEST_XBEE_IDS <numRobots> <id0> <id1> ... <idNumRobots>
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#endif