Colony

/* Eugene Marinelli, Fan

 * 10/27/06

 *

 * Colonet Definitions - common definitions and structs used in all colonet 

 * applications

 */

#ifndef COLONET_DEFS_H_

#define COLONET_DEFS_H_

//Message types

#define COLONET_COMMAND 0x0D

#define COLONET_REQUEST 0x0E

#define COLONET_RESPONSE 0x0F

//Packet properties

#define PACKET_DATA_LEN 7

#define PACKET_SIZE 16

//Packet error codes

#define WL_ERRCODE_ROBOTDEATH 123     //For timeouts

#define WL_ERRCODE_NEEDTOCHARGE 250   //For pinging charging station

#define WL_ERRCODE_CHARGESTATION 251  //Charging station response to ping

#define WL_ERR_DEAD_LOC 5

#define WL_ERROR_DEST 255

#define WL_ERROR_LOC 4

#define WL_DEFAULT_PAN 3332

typedef struct {

  unsigned char prefix[2];

  unsigned char token_src;

  unsigned char token_dest;

  unsigned char msg_dest;

  unsigned char msg_type;

  unsigned char msg_code;

  unsigned char data[PACKET_DATA_LEN];

  unsigned char num_robots;

  unsigned char checksum;

} ColonetPacket;

#define SERIAL_PORT "/dev/ttyS0"

#define USB_PORT "/dev/ttyUSB0"

// Message dests

#define GLOBAL_DEST 200

#define MAX_NUM_ROBOTS 7

#define COLONET_SERVER_RESPONSE_ADDR 201

#define USER_DEFINED_MSG_ID_START 0xF0

#define USER_DEFINED_MSG_ID_END 0xFF

#define USER_DEFINED_MSG_TOTAL 0x0F

/* Low level robot commands */

//BUZZER

#define BUZZER_INIT 0x00

#define BUZZER_SET_VAL 0x01

#define BUZZER_SET_FREQ 0x02

#define BUZZER_CHIRP 0x03

#define BUZZER_OFF 0x04

//LCD

#define LCD_INIT 0x05

#define LCD_CLEAR_SCREEN 0x06

#define LCD_PUTBYTE 0x07

#define LCD_PUTCHAR 0x08

#define LCD_PUTSTR 0x09

#define LCD_GOTOXY 0x0A

#define LCD_PUTINT 0x0B

//ORB

#define ORB_INIT 0x0C

#define ORB_SET 0x0D

#define ORB_SET_COLOR 0x0E

#define ORB_DISABLE 0x0F

#define ORB_ENABLE 0x10

#define ORB_SET_DIO 0x11

#define LED_INIT 0x12

#define LED_USER 0x13

#define ORB_SET_NUM_NS 0x14

#define ORB_SET_NUM 0x15

#define ORB_SEND 0x16

//MOTORS

#define MOTORS_INIT 0x17

#define MOTOR1_SET 0x18

#define MOTOR2_SET 0x19

#define MOTORS_OFF 0x1A

#define MOVE 0x1B

#define MOVE_AVOID 0x1C

//SHARP

#define READ_DISTANCE 0x24

#define LINEARIZE_DISTANCE 0x25

#define LOG_DISTANCE 0x26

#define ENABLE_IR 0x27

#define DISABLE_IR 0x28

//SERIAL

#define XBEE_INIT 0x29

#define XBEE_PUTC 0x2A

#define XBEE_GETC 0x2B

#define USB_INIT 0x2D

#define USB_PUTC 0x2E

#define USB_GETC 0x2F

//DELAY_MS

#define DELAY_MS 0x31

//ANALOG

#define ANALOG_INIT 0x32

#define SET_ADC_MUX 0x33

#define ENABLE_ANALOG 0x34

#define CALL_ANALOG8 0x35

#define CALL_ANALOG10 0x36

#define WHEEL 0x37

#define BATTERY 0x38

//BOM

#define GETMAXBOM 0x39

#define BOM_ON 0x3A

#define BOM_OFF 0x3B

#define OUTPUT_HIGH 0x3C

#define OUTPUT_LOW 0x3D

//DIO

#define DIGITAL_INPUT 0x3E

#define DIGITAL_OUTPUT 0x3F

#define BUTTON1_READ 0x41

#define BUTTON1_WAIT 0x42

#define BUTTON1_WAIT_LED 0x43

#define BUTTON2_READ 0x44

#define BUTTON2_WAIT 0x45

#define BUTTON2_WAIT_LED 0x46

//WL 

#define WL_INIT 0x47

#define PARSE_BUFFER 0x48

#define WL_SEND 0x49

//BUMPER

#define DETECT_BUMP 0x50

//Other

#define PRINTF 0x51

#define KILL_ROBOT 0x52

//Colonet specific commands

#define REQUEST_BOM_MATRIX 0x90

//request: REQUEST_FROM_SERVER REQUEST_BOM_MATRIX 

//response: RESPONSE_TO_CLIENT_REQUEST REQUEST_BOM_MATRIX <numRobots> <row by row, values separated by spaces>

// if you don't know a value in the matrix, put -1 in there

/* End low-level robot commands */

//Colonet Client commands

//TODO: renamed these to end in LENGTH

#define MAX_COMMAND_LEN 128

#define MAX_RESPONSE_LEN 1024

#define SEND_TO_ROBOT      0x00

#define REQUEST_FROM_SERVER 0x01

#define RESPONSE_TO_CLIENT_REQUEST 0x02

#endif