openinterface.h

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#ifndef __OPENINTERFACE_H
#define __OPENINTERFACE_H

/* -- Includes -- */
#include "serialport.h"

/* -- Types -- */

typedef struct s_OPENINTERFACE_SENSOR_STRUCT
{
    // ID: 7
    unsigned char wheeldrop_bump;
    // ID: 8
    unsigned char wall;
    // ID: 9
    unsigned char cliff_left;
    // ID: 10
    unsigned char cliff_front_left;
    // ID: 11
    unsigned char cliff_front_right;
    // ID: 12
    unsigned char cliff_right;
    // ID: 13
    unsigned char virtual_wall;
    // ID: 14
    unsigned char overcurrent;
    // ID: 15 UNUSED
    // ID: 16 UNUSED
    // ID: 17
    unsigned char infrared;
    // ID: 18
    unsigned char buttons;
    // ID: 19
    int distance;
    // ID: 20
    int angle;
    // ID: 21
    unsigned char charging_state;
    // ID: 22
    unsigned int voltage;
    // ID: 23
    int current;
    // ID: 24
    int battery_temp;
    // ID: 25
    unsigned int battery_charge;
    // ID: 26
    unsigned int battery_capacity;
    // ID: 27
    unsigned int wall_signal;
    // ID: 28
    unsigned int cliff_left_signal;
    // ID: 29
    unsigned int cliff_front_left_signal;
    // ID: 30
    unsigned int cliff_front_right_signal;
    // ID: 31
    unsigned int cliff_right_signal;
    // ID: 32
    unsigned char cargo_bay_digital_inputs;
    // ID: 33
    unsigned int cargo_bay_analog_signal;
    // ID: 34
    unsigned char charging_source_available;
    // ID: 35
    unsigned char io_mode;
    // ID: 36
    unsigned char song_number;
    // ID: 37
    unsigned char song_playing;
    // ID: 38
    unsigned char stream_packets_number;
    // ID: 39
    int requested_velocity;
    // ID: 40
    int requested_radius;
    // ID: 41
    int requested_velocity_right;
    // ID: 42
    int requested_velocity_left;
    
} openinterface_sensor_t;

typedef struct s_OPENINTERFACE_STRUCT
{
    serialport_t *sps; // Pointer to serial port structure
    openinterface_sensor_t *oiss; // Pointer to Open Interface sensor structure

} openinterface_t;

/* -- Constants -- */

// Commands
#define s_OI_CMD_START                  0x80
#define s_OI_CMD_MODE_SAFE              0x83
#define s_OI_CMD_MODE_FULL              0x84
#define s_OI_CMD_MODE_PASSIVE           0x80
#define s_OI_CMD_DRIVE                  0x89
#define s_OI_CMD_DRIVE_DIRECT           0x91
#define s_OI_CMD_LEDS                   0x8B
#define s_OI_CMD_DIGITAL_OUTPUTS        0x93
#define s_OI_CMD_PWM_LSD                0x90
#define s_OI_CMD_LSD                    0x8A
#define s_OI_CMD_SEND_IR                0x97
#define s_OI_CMD_SONG                   0x8C
#define s_OI_CMD_PLAY_SONG              0x8D
#define s_OI_CMD_SENSORS                0x8E
#define s_OI_CMD_QUERY_LIST             0x95
#define s_OI_CMD_STREAM                 0x94
#define s_OI_CMD_PAUSE_RESUME_STREAM    0x96
#define s_OI_CMD_SCRIPT                 0x98
#define s_OI_CMD_PLAY_SCRIPT            0x99
#define s_OI_CMD_SHOW_SCRIPT            0x9A
#define s_OI_CMD_WAIT_TIME              0x9B
#define s_OI_CMD_WAIT_DIST              0x9C
#define s_OI_CMD_WAIT_ANGLE             0x9D
#define s_OI_CMD_WAIT_EVENT             0x9E

// Sensor packet ID
#define s_OI_SENSOR_PACKET_0            0 // Fisrt half of the sensors
#define s_OI_SENSOR_PACKET_1            1 // 1st block of sensors
#define s_OI_SENSOR_PACKET_2            2 // 2nd block of sensors
#define s_OI_SENSOR_PACKET_3            3 // 3rd block of sensors
#define s_OI_SENSOR_PACKET_4            4 // 4th block of sensors
#define s_OI_SENSOR_PACKET_5            5 // 5th block of sensors
#define s_OI_SENSOR_PACKET_6            6 // All sensors

// Sensor packet size (See iRobot Create OpenInterface PDF)
#define s_OI_SENSOR_PACKET_0_SIZE       26 // Fisrt half of the sensors
#define s_OI_SENSOR_PACKET_1_SIZE       10 // 1st block of sensors
#define s_OI_SENSOR_PACKET_2_SIZE       6 // 2nd block of sensors
#define s_OI_SENSOR_PACKET_3_SIZE       10 // 3rd block of sensors
#define s_OI_SENSOR_PACKET_4_SIZE       14 // 4th block of sensors
#define s_OI_SENSOR_PACKET_5_SIZE       12 // 5th block of sensors
#define s_OI_SENSOR_PACKET_6_SIZE       52 // All sensors

/* -- Function Prototypes -- */
// Communication
openinterface_t *openinterface_open(char *device_path); // Open OpenInterface connection
int openinterface_close(openinterface_t *ois); // Close OpenInteface connection

// Comands
int openinterface_start(openinterface_t *ois); // Start OI
int openinterface_full(openinterface_t *ois); // Enable full control of OI

//??
int openinterface_drive(openinterface_t *ois, int velocity, int radius); // Sends drive command
int openinterface_drive_direct(openinterface_t *ois, int right, int left); // Sends Direct Drive Command
int openinterface_sensor_get(openinterface_t *ois, const unsigned char id, const unsigned char len, unsigned char *data); // Get one sensor request readings
int openinterface_sensors_update(openinterface_t *ois, const unsigned int sensor_id, const unsigned int size); // Update one sensor packet
int openinterface_distance_get(openinterface_t *ois); // Get travelled distance
int openinterface_angle_get(openinterface_t *ois); // Get change of angle

int openinterface_LEDs( openinterface_t *ois, 
                        int play, 
                        int advance, 
                        unsigned char power_color,
                        unsigned char power_intensity); // Control LEDs

#endif /* __OPENINTERFACE_H */