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_

// PacketGroup id for wireless library.

#define COLONET_PACKET_GROUP_ID 8

#define COLONET_RESPONSE_PACKET_FRAME_ID COLONET_PACKET_GROUP_ID

//Colonet Client commands

//TODO: renamed these to end in LENGTH

#define MAX_COMMAND_LEN 128

#define MAX_RESPONSE_LEN 1024

typedef enum {SEND_TO_ROBOT = 0, REQUEST_FROM_SERVER = 1, RESPONSE_TO_CLIENT_REQUEST = 2} ColonetClientMessageType;

typedef enum {COLONET_COMMAND = 13, COLONET_REQUEST = 14, COLONET_RESPONSE = 15} ColonetRobotMessageType;

//Packet properties

#define PACKET_DATA_LEN 16

#define WL_DEFAULT_PAN 3332

#define SERIAL_PORT "/dev/ttyS0"

#define USB_PORT "/dev/ttyUSB0"

// Message dests

#define GLOBAL_DEST 200

#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

/* This is the packet structure of the data buffer sent from the colonet

 * wireless library to the robots and from the robots to the colonet wireless

 * library. */

typedef struct {

  short client_id; // ID number of the client sending the packet. Size of short is common to robots and server.

  unsigned char msg_code; // Specific instruction for the robot -- see below.

  unsigned char data[PACKET_DATA_LEN];

} ColonetRobotServerPacket;

/* Message codes */

//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

#define MOVE_TO_ABSOLUTE_POSITION 0x53

#define ROBOT_REQUEST_POSITION_FROM_SERVER 0x54

#define SERVER_REPORT_POSITION_TO_ROBOT 0x55

#define CLIENT_REQUEST_ROBOT_POSITIONS 0x56

#define CLIENT_ASSIGN_ROBOT_ID 0x57

#define SERVER_REPORT_ROBOT_LOST 0x58

#define CLIENT_SET_VIRTUAL_WALL 0x59

#define SERVER_REPORT_VIRTUAL_WALL_UPPER 0x5A

#define SERVER_REPORT_VIRTUAL_WALL_LOWER 0x5B

#define SERVER_CLEAR_VIRTUAL_WALL 0x5C

#define ROBOT_REPORT_ARRIVED_AT_POSITION 0x5D

#define RECHARGE 0x60

///////////////////////////

//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

#define REQUEST_XBEE_IDS 0x91

//request: REQUEST_FROM_SERVER REQUEST_XBEE_IDS

//response: RESPONSE_TO_CLIENT_REQUEST REQUEST_XBEE_IDS <numRobots> <id0> <id1> ... <idNumRobots>

#endif