include/botsense/bsproxy_if.h File Reference

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Detailed Description

Botsense proxy IP server interface declarations.

Version:

$LastChangedDate$ $Rev$

Author:

Robin Knight (robin.knight@roadnarrows.com)

Copyright:

(C) 2007. RoadNarrows LLC. (http://www.roadnarrows.com)
All Rights Reserved

Definition in file bsproxy_if.h.

Go to the source code of this file.

Defines
#define	BSPROXY_MSG_MAX_LEN   256
	max. total length in bytes
#define	BSPROXY_CMD_HDR_LEN   3
	msgid + tid + blen
#define	BSPROXY_RSP_HDR_LEN   4
	msgid + tid + pf + blen
#define	BSPROXY_CMD_HDR_MSGID_IDX   0
	command message id index
#define	BSPROXY_RSP_HDR_MSGID_IDX   0
	response message id index
#define	BSPROXY_CMD_HDR_TID_IDX   1
	command transaction id index
#define	BSPROXY_RSP_HDR_TID_IDX   1
	response transaction id index
#define	BSPROXY_CMD_HDR_BLEN_IDX   2
	command body length index
#define	BSPROXY_RSP_HDR_PF_IDX   2
	response pass/fail index
#define	BSPROXY_RSP_HDR_BLEN_IDX   3
	response body length index
#define	BSPROXY_CMD_BODY_IDX   3
	command body start index
#define	BSPROXY_RSP_BODY_IDX   4
	response body start index
#define	BSPROXY_CMD_BODY_LEN_MAX   (BSPROXY_MSG_MAX_LEN-BSPROXY_CMD_HDR_LEN)
	max. command body length
#define	BSPROXY_RSP_BODY_LEN_MAX   (BSPROXY_MSG_MAX_LEN-BSPROXY_RSP_HDR_LEN)
	max. response body length
#define	BSPROXY_MSGID_LOG   'l'
	set diagnostics logging level
#define	BSPROXY_MSGID_VERSION   'v'
	proxy server version
#define	BSPROXY_MSGID_ERROR   'e'
	proxy server error message
#define	BSPROXY_MSGID_LOOPBACK   'b'
	loopback command body
#define	BSPROXY_MSGID_PROXY_INFO   '?'
	get info on all proxied devices
#define	BSPROXY_MSGID_DEV_OPEN   'o'
	open a [new] proxied device
#define	BSPROXY_MSGID_DEV_CLOSE   'c'
	close a proxied device
#define	BSPROXY_MSGID_DEV_READ   'r'
	raw read of proxied device data
#define	BSPROXY_MSGID_DEV_WRITE   'w'
	raw write to proxied device
#define	BSPROXY_MSGID_DEV_TRANS   't'
	raw write/read transaction
#define	BSPROXY_MSGID_DEV_IOCTL   'i'
	ioctl configuration
#define	BSPROXY_MSGID_DEV_SCAN   's'
	scan for all connected devices
#define	BSPROXY_MSGID_DEV_CMD   '!'
	proxied device specific command
#define	BSPROXY_DEVTYPE_NONE   0x00
	no device
#define	BSPROXY_DEVTYPE_I2C   0x01
	generic I2C device
#define	BSPROXY_DEVTYPE_BPFOOT   0x02
	BrainPack I2C foot.
#define	BSPROXY_DEVTYPE_BPIMU   0x03
	BrainPack I2C Inertia Measurement Unit.
#define	BSPROXY_DEVTYPE_BPHAND   0x04
	BrainPack I2C hand.
#define	BSPROXY_DEVTYPE_BPCOMPASS   0x05
	BrainPack I2C compass.
#define	BSPROXY_DEVTYPE_RS232   0x06
	generic RS-232 serial device
#define	BSPROXY_DEVTYPE_RCB3   0x07
	RCB-3 robot controller board over serial.
#define	BSPROXY_RSP_PASS   'P'
	pass
#define	BSPROXY_RSP_FAIL   'F'
	fail
#define	BSPROXY_BPFOOT_CMDID_GET_IDS   'i'
	get identifiers
#define	BSPROXY_BPFOOT_CMDID_CAL   'c'
	calibrate foot sensors
#define	BSPROXY_BPFOOT_CMDID_GET_RAW   'r'
	get raw sensor data
#define	BSPROXY_BPFOOT_CMDID_GET_COOKED   'd'
	get cooked sensor data
#define	BSPROXY_BPFOOT_NUMOF_SENSORS   8
	number of sensors per foot
#define	BSPROXY_BPIMU_CMDID_GET_IDS   'i'
	get identifiers
#define	BSPROXY_BPIMU_CMDID_CAL   'c'
	calibrate foot sensors
#define	BSPROXY_BPIMU_CMDID_GET_RAW   'r'
	get raw sensor data
#define	BSPROXY_BPIMU_CMDID_GET_COOKED   'd'
	get cooked sensor data
#define	BSPROXY_BPIMU_CMDID_SET_ORIENT   'o'
	set orientation
#define	BSPROXY_BPIMU_NUMOF_SENSORS   3
	number of sensors per IMU

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Define Documentation

#define BSPROXY_BPFOOT_CMDID_GET_IDS   'i'

get identifiers BrainPack Foot Proxied Device Specific Command Ids Definition at line 110 of file bsproxy_if.h. Referenced by BPFootDispatch().

#define BSPROXY_BPIMU_CMDID_GET_IDS   'i'

get identifiers BrainPack Inertia Measurement Unit Proxied Device Specific Command Ids Definition at line 121 of file bsproxy_if.h. Referenced by BPIMUDispatch().

#define BSPROXY_CMD_HDR_LEN   3

msgid + tid + blen BotSense command/response layout Definition at line 54 of file bsproxy_if.h. Referenced by BPFootDispatch(), BPIMUCmdSetOrientation(), BPIMUDispatch(), ClientDispatch(), ClientGetHandle(), ClientSendHdrError(), CmdDevOpen(), CmdDevRead(), CmdDevTrans(), CmdDevWrite(), CmdLog(), CmdLoopback(), CmdVersion(), RCB3CmdMoveServo(), RCB3CmdPlay(), and RCB3Dispatch().

#define BSPROXY_DEVTYPE_NONE   0x00

no device Proxied device types Definition at line 90 of file bsproxy_if.h. Referenced by ClientDelete(), ClientDevFindEmptySlot(), ClientGetHandle(), ClientNew(), and CmdDevClose().

#define BSPROXY_MSG_MAX_LEN   256

max. total length in bytes Messaging limits Definition at line 49 of file bsproxy_if.h. Referenced by BPFootCmdGetCooked(), BPFootCmdGetIds(), BPFootCmdGetRaw(), BPFootCmdSetCal(), BPIMUCmdGetCooked(), BPIMUCmdGetIds(), BPIMUCmdGetRaw(), BPIMUCmdSetCal(), BPIMUCmdSetOrientation(), ClientSendFailRsp(), CmdDevClose(), CmdDevIoctl(), CmdDevOpen(), CmdDevRead(), CmdDevScan(), CmdDevTrans(), CmdDevWrite(), CmdLog(), CmdLoopback(), CmdProxyInfo(), CmdVersion(), RCB3CmdGetCurPos(), RCB3CmdGetVersion(), RCB3CmdMoveServo(), RCB3CmdPlay(), and RCB3CmdStop().

#define BSPROXY_MSGID_LOG   'l'

set diagnostics logging level BotSense IP Proxy Server Message Ids Definition at line 73 of file bsproxy_if.h. Referenced by ClientDispatch().

#define BSPROXY_RSP_PASS   'P'

pass Response pass/fail field values Definition at line 104 of file bsproxy_if.h. Referenced by ClientSendPassRsp().

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