00001
00002 /***************************************************************************
00003  *  NavigatorInterface.h - Fawkes BlackBoard Interface - NavigatorInterface
00004  *
00005  *  Templated created:   Thu Oct 12 10:49:19 2006
00006  *  Copyright  2007-2009  Martin Liebenberg, Daniel Beck, Tim Niemueller
00007  *
00008  ****************************************************************************/
00009
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023
00024 #ifndef __INTERFACES_NAVIGATORINTERFACE_H_
00025 #define __INTERFACES_NAVIGATORINTERFACE_H_
00026 
00027 #include <interface/interface.h>
00028 #include <interface/message.h>
00029 #include <interface/field_iterator.h>
00030
00031 namespace fawkes {
00032
00033 class NavigatorInterface : public Interface
00034 {
00035  /// @cond INTERNALS
00036  INTERFACE_MGMT_FRIENDS(NavigatorInterface)
00037  /// @endcond
00038  public:
00039   /* constants */
00040   static const unsigned int ERROR_NONE;
00041   static const unsigned int ERROR_MOTOR;
00042   static const unsigned int ERROR_OBSTRUCTION;
00043   static const unsigned int ERROR_UNKNOWN_PLACE;
00044   static const unsigned int FLAG_NONE;
00045   static const unsigned int FLAG_CART_GOTO;
00046   static const unsigned int FLAG_POLAR_GOTO;
00047   static const unsigned int FLAG_PLACE_GOTO;
00048   static const unsigned int FLAG_UPDATES_DEST_DIST;
00049   static const unsigned int FLAG_SECURITY_DISTANCE;
00050   static const unsigned int FLAG_ESCAPING;
00051
00052  private:
00053   /** Internal data storage, do NOT modify! */
00054   typedef struct {
00055     unsigned int flags; /**< Bit-wise combination of
00056     FLAG_* constants denoting navigator component features. */
00057     unsigned int msgid; /**< The ID of the message that is currently being
00058       processed, or 0 if no message is being processed. */
00059     unsigned int error_code; /**< Failure code set if
00060     final is true. 0 if no error occured, an error code from ERROR_*
00061     constants otherwise (or a bit-wise combination). */
00062     float x; /**< Current X-coordinate in the navigator coordinate system. */
00063     float y; /**< Current Y-coordinate in the navigator coordinate system. */
00064     float dest_x; /**< X-coordinate of the current destination, or 0.0 if no target has been set. */
00065     float dest_y; /**< Y-coordinate of the current destination, or 0.0 if no target has been set. */
00066     float dest_ori; /**< Orientation of the current destination, or 0.0 if no target has been set. */
00067     float dest_dist; /**< Distance to destination in m. */
00068     float max_velocity; /**< Maximum velocity */
00069     float security_distance; /**< Security distance to
00070     keep to obstacles */
00071     bool final; /**< True, if the last goto command has been finished,
00072       false if it is still running */
00073     bool escaping_enabled; /**< This is used for
00074         navigation components with integrated collision avoidance, to
00075         check whether the navigator should stop when an obstacle
00076         obstructs the path, or if it should escape. */
00077   } NavigatorInterface_data_t;
00078
00079   NavigatorInterface_data_t *data;
00080
00081  public:
00082   /* messages */
00083   class StopMessage : public Message
00084   {
00085    public:
00086     StopMessage();
00087     ~StopMessage();
00088
00089     StopMessage(const StopMessage *m);
00090     /* Methods */
00091     virtual Message * clone() const;
00092   };
00093
00094   class TurnMessage : public Message
00095   {
00096    private:
00097     /** Internal data storage, do NOT modify! */
00098     typedef struct {
00099       float angle; /**< Angle of the turn. */
00100       float velocity; /**< The desired turning velocity in rad/s,
00101       set to zero to use default value. */
00102     } TurnMessage_data_t;
00103
00104     TurnMessage_data_t *data;
00105
00106    public:
00107     TurnMessage(const float ini_angle, const float ini_velocity);
00108     TurnMessage();
00109     ~TurnMessage();
00110
00111     TurnMessage(const TurnMessage *m);
00112     /* Methods */
00113     float angle() const;
00114     void set_angle(const float new_angle);
00115     size_t maxlenof_angle() const;
00116     float velocity() const;
00117     void set_velocity(const float new_velocity);
00118     size_t maxlenof_velocity() const;
00119     virtual Message * clone() const;
00120   };
00121
00122   class CartesianGotoMessage : public Message
00123   {
00124    private:
00125     /** Internal data storage, do NOT modify! */
00126     typedef struct {
00127       float x; /**< X-coordinate of the target, in the robot's coordinate system. */
00128       float y; /**< Y-coordinate of the target, in the robot's coordinate system. */
00129       float orientation; /**< The orientation of the robot at the target. */
00130     } CartesianGotoMessage_data_t;
00131
00132     CartesianGotoMessage_data_t *data;
00133
00134    public:
00135     CartesianGotoMessage(const float ini_x, const float ini_y, const float ini_orientation);
00136     CartesianGotoMessage();
00137     ~CartesianGotoMessage();
00138
00139     CartesianGotoMessage(const CartesianGotoMessage *m);
00140     /* Methods */
00141     float x() const;
00142     void set_x(const float new_x);
00143     size_t maxlenof_x() const;
00144     float y() const;
00145     void set_y(const float new_y);
00146     size_t maxlenof_y() const;
00147     float orientation() const;
00148     void set_orientation(const float new_orientation);
00149     size_t maxlenof_orientation() const;
00150     virtual Message * clone() const;
00151   };
00152
00153   class PolarGotoMessage : public Message
00154   {
00155    private:
00156     /** Internal data storage, do NOT modify! */
00157     typedef struct {
00158       float phi; /**< Angle between the robot's front and the target. */
00159       float dist; /**< Distance to the target. */
00160       float orientation; /**< The orientation of the robot at the target. */
00161     } PolarGotoMessage_data_t;
00162
00163     PolarGotoMessage_data_t *data;
00164
00165    public:
00166     PolarGotoMessage(const float ini_phi, const float ini_dist, const float ini_orientation);
00167     PolarGotoMessage();
00168     ~PolarGotoMessage();
00169
00170     PolarGotoMessage(const PolarGotoMessage *m);
00171     /* Methods */
00172     float phi() const;
00173     void set_phi(const float new_phi);
00174     size_t maxlenof_phi() const;
00175     float dist() const;
00176     void set_dist(const float new_dist);
00177     size_t maxlenof_dist() const;
00178     float orientation() const;
00179     void set_orientation(const float new_orientation);
00180     size_t maxlenof_orientation() const;
00181     virtual Message * clone() const;
00182   };
00183
00184   class PlaceGotoMessage : public Message
00185   {
00186    private:
00187     /** Internal data storage, do NOT modify! */
00188     typedef struct {
00189       char place[64]; /**< Place to go to. */
00190     } PlaceGotoMessage_data_t;
00191
00192     PlaceGotoMessage_data_t *data;
00193
00194    public:
00195     PlaceGotoMessage(const char * ini_place);
00196     PlaceGotoMessage();
00197     ~PlaceGotoMessage();
00198
00199     PlaceGotoMessage(const PlaceGotoMessage *m);
00200     /* Methods */
00201     char * place() const;
00202     void set_place(const char * new_place);
00203     size_t maxlenof_place() const;
00204     virtual Message * clone() const;
00205   };
00206
00207   class ObstacleMessage : public Message
00208   {
00209    private:
00210     /** Internal data storage, do NOT modify! */
00211     typedef struct {
00212       float x; /**< X-coordinate of the obstacle. */
00213       float y; /**< Y-coordinate of the obstacle. */
00214       float width; /**< Width of the obstacle. */
00215     } ObstacleMessage_data_t;
00216
00217     ObstacleMessage_data_t *data;
00218
00219    public:
00220     ObstacleMessage(const float ini_x, const float ini_y, const float ini_width);
00221     ObstacleMessage();
00222     ~ObstacleMessage();
00223
00224     ObstacleMessage(const ObstacleMessage *m);
00225     /* Methods */
00226     float x() const;
00227     void set_x(const float new_x);
00228     size_t maxlenof_x() const;
00229     float y() const;
00230     void set_y(const float new_y);
00231     size_t maxlenof_y() const;
00232     float width() const;
00233     void set_width(const float new_width);
00234     size_t maxlenof_width() const;
00235     virtual Message * clone() const;
00236   };
00237
00238   class ResetOdometryMessage : public Message
00239   {
00240    public:
00241     ResetOdometryMessage();
00242     ~ResetOdometryMessage();
00243
00244     ResetOdometryMessage(const ResetOdometryMessage *m);
00245     /* Methods */
00246     virtual Message * clone() const;
00247   };
00248
00249   class SetMaxVelocityMessage : public Message
00250   {
00251    private:
00252     /** Internal data storage, do NOT modify! */
00253     typedef struct {
00254       float max_velocity; /**< Maximum velocity */
00255     } SetMaxVelocityMessage_data_t;
00256
00257     SetMaxVelocityMessage_data_t *data;
00258
00259    public:
00260     SetMaxVelocityMessage(const float ini_max_velocity);
00261     SetMaxVelocityMessage();
00262     ~SetMaxVelocityMessage();
00263
00264     SetMaxVelocityMessage(const SetMaxVelocityMessage *m);
00265     /* Methods */
00266     float max_velocity() const;
00267     void set_max_velocity(const float new_max_velocity);
00268     size_t maxlenof_max_velocity() const;
00269     virtual Message * clone() const;
00270   };
00271
00272   class SetEscapingMessage : public Message
00273   {
00274    private:
00275     /** Internal data storage, do NOT modify! */
00276     typedef struct {
00277       bool escaping_enabled; /**< This is used for
00278         navigation components with integrated collision avoidance, to
00279         check whether the navigator should stop when an obstacle
00280         obstructs the path, or if it should escape. */
00281     } SetEscapingMessage_data_t;
00282
00283     SetEscapingMessage_data_t *data;
00284
00285    public:
00286     SetEscapingMessage(const bool ini_escaping_enabled);
00287     SetEscapingMessage();
00288     ~SetEscapingMessage();
00289
00290     SetEscapingMessage(const SetEscapingMessage *m);
00291     /* Methods */
00292     bool is_escaping_enabled() const;
00293     void set_escaping_enabled(const bool new_escaping_enabled);
00294     size_t maxlenof_escaping_enabled() const;
00295     virtual Message * clone() const;
00296   };
00297
00298   class SetSecurityDistanceMessage : public Message
00299   {
00300    private:
00301     /** Internal data storage, do NOT modify! */
00302     typedef struct {
00303       float security_distance; /**< Security distance to
00304     keep to obstacles */
00305     } SetSecurityDistanceMessage_data_t;
00306
00307     SetSecurityDistanceMessage_data_t *data;
00308
00309    public:
00310     SetSecurityDistanceMessage(const float ini_security_distance);
00311     SetSecurityDistanceMessage();
00312     ~SetSecurityDistanceMessage();
00313
00314     SetSecurityDistanceMessage(const SetSecurityDistanceMessage *m);
00315     /* Methods */
00316     float security_distance() const;
00317     void set_security_distance(const float new_security_distance);
00318     size_t maxlenof_security_distance() const;
00319     virtual Message * clone() const;
00320   };
00321
00322   virtual bool message_valid(const Message *message) const;
00323  private:
00324   NavigatorInterface();
00325   ~NavigatorInterface();
00326
00327  public:
00328   /* Methods */
00329   unsigned int flags() const;
00330   void set_flags(const unsigned int new_flags);
00331   size_t maxlenof_flags() const;
00332   float x() const;
00333   void set_x(const float new_x);
00334   size_t maxlenof_x() const;
00335   float y() const;
00336   void set_y(const float new_y);
00337   size_t maxlenof_y() const;
00338   float dest_x() const;
00339   void set_dest_x(const float new_dest_x);
00340   size_t maxlenof_dest_x() const;
00341   float dest_y() const;
00342   void set_dest_y(const float new_dest_y);
00343   size_t maxlenof_dest_y() const;
00344   float dest_ori() const;
00345   void set_dest_ori(const float new_dest_ori);
00346   size_t maxlenof_dest_ori() const;
00347   float dest_dist() const;
00348   void set_dest_dist(const float new_dest_dist);
00349   size_t maxlenof_dest_dist() const;
00350   unsigned int msgid() const;
00351   void set_msgid(const unsigned int new_msgid);
00352   size_t maxlenof_msgid() const;
00353   bool is_final() const;
00354   void set_final(const bool new_final);
00355   size_t maxlenof_final() const;
00356   unsigned int error_code() const;
00357   void set_error_code(const unsigned int new_error_code);
00358   size_t maxlenof_error_code() const;
00359   float max_velocity() const;
00360   void set_max_velocity(const float new_max_velocity);
00361   size_t maxlenof_max_velocity() const;
00362   float security_distance() const;
00363   void set_security_distance(const float new_security_distance);
00364   size_t maxlenof_security_distance() const;
00365   bool is_escaping_enabled() const;
00366   void set_escaping_enabled(const bool new_escaping_enabled);
00367   size_t maxlenof_escaping_enabled() const;
00368   virtual Message * create_message(const char *type) const;
00369
00370   virtual void copy_values(const Interface *other);
00371
00372 };
00373
00374 } // end namespace fawkes
00375
00376 #endif