ArCommands.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARCOMMANDS_H
#define ARCOMMANDS_H


class ArCommands
{
public:
  enum Commands { 
  PULSE = 0, 
  OPEN = 1, 
  CLOSE = 2, 
  POLLING = 3, 
  ENABLE = 4, 
  SETA = 5, 
  SETV = 6, 
  SETO = 7, 
  MOVE = 8, 
  ROTATE = 9, 
  SETRV = 10, 
  VEL = 11, 
  HEAD = 12, 
  DHEAD = 13, 
  //DROTATE = 14, does not really exist
  SAY = 15, 
  JOYINFO = 17, // int, requests joystick packet, 0 to stop, 1 for 1, 2 for continuous
  CONFIG = 18, 
  ENCODER = 19, 
  RVEL = 21, 
  DCHEAD = 22, 
  SETRA = 23, 
  SONAR = 28, 
  STOP = 29, 
  DIGOUT = 30, 
  //TIMER = 31, ... no clue about this one
  VEL2 = 32, 
  GRIPPER = 33, 
  //KICK = 34, um...
  ADSEL = 35, 
  GRIPPERVAL = 36, 
  GRIPPERPACREQUEST = 37, 
  IOREQUEST = 40, 
  PTUPOS = 41, 
  TTY2 = 42, 
  GETAUX = 43, 
  BUMPSTALL = 44, 
  TCM2 = 45, 
  JOYDRIVE = 47, 
  MOVINGBLINK = 49, 
  HOSTBAUD = 50, 
  AUX1BAUD = 51, 
  AUX2BAUD = 52, 
  ESTOP = 55, 
  ESTALL = 56, // ?
  GYRO = 58, 
  TTY3 = 66,
  GETAUX2 = 67,

  // SRISIM specific:
  LOADPARAM = 61, 
  OLDSIM_LOADPARAM = 61, 
  ENDSIM = 62, 
  OLDSIM_EXIT = 62, 
  LOADWORLD = 63, 
  OLDSIM_LOADWORLD = 63, 
  STEP = 64, 
  OLDSIM_STEP = 64, 

  // for calibrating the compass:
  CALCOMP = 65, 

  // SRISIM specific:
  // SETORIGINX and SETORIGINY overlap with TTY3 and GETAUX2 so they are disabled:
  //SETSIMORIGINX = 66, 
  //SETSIMORIGINY = 67, 
  //OLDSIM_SETORIGINX = 66,
  //OLDSIM_SETORIGINY = 67,
  SETSIMORIGINTH = 68, 
  OLDSIM_SETORIGINTH = 68, 
  RESETSIMTOORIGIN = 69, 
  OLDSIM_RESETTOORIGIN = 69, 

  // AmigoBot-H8 specific:
  SOUND = 90, 
  PLAYLIST = 91, 
  SOUNDTOG = 92, 

  // MobileSim specific:
  SIM_SET_POSE = 224,       
  SIM_RESET= 225,         
  SIM_LRF_ENABLE = 230,   
  SIM_LRF_SET_FOV_START = 231,  
  SIM_LRF_SET_FOV_END = 232,  
  SIM_LRF_SET_RES = 233,  
  SIM_CTRL = 236,         
  SIM_STAT = 237,         
  SIM_MESSAGE = 238,      
  SIM_EXIT = 239          
  };
  
};

#endif // ARCOMMANDS_H

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