atlas_messages.h

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#ifndef _ATLAS_MESSAGES_H_
#define _ATLAS_MESSAGES_H_

#define ATLAS_RESET_OCCURRED_NAME "atlas_reset_occurred"
typedef carmen_default_message atlaso_reset_occurred_message;

#define ATLAS_RESET_COMMAND_NAME "atlas_reset_command"
typedef carmen_default_message atlas_reset_command_message;

typedef struct {
  double timestamp;
  double brake;                 
  double dir;                   
  double speed;                 
  int priority;                 
  double life;                  
  char *host;
} robot_motion_command_message;

#define      ROBOT_MOTION_COMMAND_NAME       (char*)"robot_motion_command"

#define      ROBOT_MOTION_COMMAND_FMT        (char*)"{double,double,double,double,int,double,string}"

typedef struct {
        double timestamp;
        int turnright;          
        int turnleft;           
        int headlights;         
        int taillights;         
        int reverselights;      
        char *host;
} robot_lights_command_message;

#define      ROBOT_LIGHTS_COMMAND_NAME       (char*)"robot_lights_command"

#define      ROBOT_LIGHTS_COMMAND_FMT        (char*)"{double,int,int,int,int,int,string}"

typedef struct
{
        double timestamp;
        int vert_sign; 
        char* host;
} robot_vert_sign_command_message;

#define      ROBOT_VERT_SIGN_COMMAND_NAME       (char*)"robot_vert_sign_command"

#define      ROBOT_VERT_SIGN_COMMAND_FMT        (char*)"{double,int,string}"

typedef struct {
        double timestamp;
        double brake;           
        double dir;                     
        double speed;           
        double x;                       
        double y;                       
        double orientation; 
        double distance_traveled;       
        int turnright;          
        int turnleft;           
        int headlights;         
        int taillights;         
        int reverselights;      
        int cross_sensor;       
        int vert_sign;          
        int errors;                     
        char *host;
} robot_status_message;

#define      ROBOT_STATUS_NAME       (char*)"robot_status"

#define      ROBOT_STATUS_FMT        (char*)"{double,double,double,double,double,double,double,double,int,int,int,int,int,int,int,int,string}"

typedef struct {
        double timestamp;
        int toggle;
        char *host;
} robot_brake_toggle_message;

#define      ROBOT_BRAKE_TOGGLE_NAME       (char*)"robot_brake_toggle_status"

#define      ROBOT_BRAKE_TOGGLE_FMT        (char*)"{double,int,string}"


#endif